CN1469720A - Radioactive emission detector with position tracking system and its application in medical system and medical process - Google Patents

Abstract

A system for calculating the position of a radioactive radiation source in a coordinate system, the system comprising: (a) a radioactive radiation detector; (b) a position tracking system connected to and/or communicating with the radioactive radiation detector; and (c) a data processor designed and configured to receive data input from the position tracking system and the radioactive radiation detector to calculate the position of the radioactive radiation source in a coordinate system.

Description

Radioactive radiation detector with position tracking system and its application in medical systems and medical procedures

Field and Background of Invention

The present invention relates to radioactive radiation detectors equipped with a position tracking system. In particular, the present invention relates to the functional integration of the aforementioned radioactive radiation detectors equipped with a position tracking system with medical imaging instruments and/or guided minimal access surgical instruments. The present invention is therefore suitable for use in calculating the location of concentrated radiopharmaceuticals in the body within the location of the imaged portion of the body, such that this information can be used to perform an efficient minimally invasive surgical procedure. The present invention further relates to a surgical instrument equipped with a position tracking system and a radioactive radiation detector for precise in situ positioning during resection and/or biopsy procedures, the surgical instrument being in accordance with other aspects of the present invention Features work together.

The use of minimally invasive surgical techniques has dramatically changed surgical methods and outcomes. The cutting of body tissues and organs to allow visualization of the surgical site during conventional "open surgery" can cause significant blunt trauma and blood loss. Exposure of internal tissues and organs also greatly increases the risk of infection following this approach. Trauma, blood loss, and infection can prolong recovery time, increase the chance of complications, and require a more intensive care and monitoring team. This open surgery creates more pain and discomfort, higher surgical costs, and a greater risk of side effects.

In stark contrast, minimally invasive surgery produces little blunt trauma or blood loss and minimal risk of infection by fully preserving the body's natural barrier capabilities to infection. Minimal invasive surgery allows for quicker recovery and fewer complications than conventional open surgery. In all areas of surgical medicine, minimally invasive procedures, such as laparoscopic, endoscopic or cystoscopic surgery, have replaced more invasive surgeries. Technological advances in areas such as fiber optics, microtool fabrication, imaging, and materials science have made it easier for surgeons to operate and have more cost-effective tools for minimally invasive procedures. However, many technical hurdles remain that limit efficacy and increase the difficulty of minimally invasive procedures, some of which have been overcome with the development of sophisticated imaging techniques. As described in further detail below, the present invention provides still further advantages in this regard.

Radionuclide imaging is one of the most important applications of radioactivity in medicine. The purpose of radionuclide imaging is to obtain an image of the distribution of the drug in the human body after administering a radiolabeled substance, such as a radiopharmaceutical, to a patient. Examples of radiopharmaceuticals include monoclonal antibodies or other agents, for example, using radioisotopes such as ^99M technetium, ^67Gallium , ^201Thallium , ^111Indium , ^123I , ^125I , and ^18F labeled coagulation factors or fluorodeoxyglucose , which can be administered orally or intravenously. By concentrating the radiopharmaceutical in the tumor area, the active part of the tumor or other condition, such as inflammation, will take up the drug more and faster than the tissue adjacent to the tumor. Thereafter, a radioactive radiation detector, usually an in-body detector or a gamma camera (see below), is used to locate the active region. Another application is the detection of blood clots with radiopharmaceuticals such as Nycomed Amersham's ACUTECT in emergency rooms or operating theatres, to detect newly formed blood clots in veins or blood clots in arteries of the heart or brain. Other applications include radioimaging of myocardial infarction using drugs such as radioactive antithrombotic antibodies, radioimaging of specific cell types using radiolabeled molecules (also known as molecular imaging), and more.

Images of the distribution of radiopharmaceuticals in and around tumors or other body structures are obtained by recording the radioactive radiation emitted by radiopharmaceuticals using external radiation detectors placed at various locations outside the patient's body. For such applications, the generally preferred radiation is gamma radiation, which is in the energy range of approximately 20-511 KeV. Beta-ray and positron detection is also possible when the detector is in contact with tissue.

The first attempts at radioactive "imaging" were made in the late 1940s. A set of radioactive detectors is placed on a matrix at measurement points around the patient's head. Alternatively, use a single detector to measure separately at each point on the substrate.

In the late 1950s, Ben Cassen introduced the linear scanner, which made a major advancement in this technology. With this instrument, the detector is scanned in a predetermined pattern over the area of interest.

In 1953 Hal Anger described the first gamma camera capable of recording all points on an image at once. Anger used a detector that included a NaI(T1) screen and an X-ray film. In the late 1950s, Anger replaced the spacer screen with a photomultiplier tube assembly. Anger cameras are introduced in Chapter 19 of "Radioisotope Cameras at Hine GJ" by Halo. Anger in "Nuclear Medicine Testing Instruments", New York Academic Press, 1967. US Patent No. 2,776,377, issued to Anger in 1957, also describes such a radiation detector assembly.

US Patent No. 4,959,547 to Carroll et al. describes a probe for drawing or providing radiographic images in a patient. The probe includes a radiation detector and an adjusting device for adjusting the solid angle of the radiation passing through the detector, and the solid angle is continuously changed. The probe is constructed so that only radiation within the solid angle reaches the detector. The probe can be positioned at the radiation source by adjusting the solid angle from maximum to minimum while moving the probe near the source and sensing the detected radiation. Probes can be used to locate the radiation and provide a point-by-point image of the source or data used to map that image.

US Patent No. 5,246,005 to Carroll et al. describes a radiation detector or probe that uses a statistically significant signal to detect radiation from tissue. The output of the radiation detector is a series of pulses, counted for a predetermined amount of time. At least two count ranges are defined by circuitry within the instrument and include determining the count range for input counts. For each count range, an audio signal is generated which is differentiated from all audio signals generated for the other count ranges. Statistically, one can choose to have a difference of 1, 2 or 3 standard deviations between the mean of each count range and the mean of the adjacent lower or higher count range. For each count range, parameters of the audio signal, such as frequency, pitch, repetition rate and/or intensity, may be varied to provide a signal that is distinct from signals for other count ranges.

U.S. Patent No. 5,475,933 to Olson describes a system for detecting photon emissions in which detectors are used to obtain electrical parameter signals having amplitudes corresponding to the energy of detected photon emissions and other signaling events. Using two comparator networks within an energy window, define a function to generate an output L when an event-based signal amplitude is equal to or greater than a threshold; an output H. Reliability and accuracy are improved by utilizing a discriminator circuit responsive to these outputs L and H to obtain an event output based on the presence of output L in the absence of output H. This discriminator circuit is an asynchronous, sequential, fundamental mode discriminator circuit with three steady states.

U.S. Patents 5,694,219 and 6,135,955 to Madden et al. describe a system and method for the diagnostic detection of structures in a patient to which a radioimaging agent has been administered, such as a radioimaging agent that causes the body structure to gamma ray, associated characteristic X-ray and Compton discrete photon continuum radiotracers. The system includes a radiation receiving device, eg, a hand-held probe or camera, an associated signal processor, and an analyzer. To receive gamma rays and characteristic x-rays emitted by the structure, and to provide a processed electrical signal representation, the radioactive receiving device is positioned adjacent to the body and structure. The processed electrical signal includes a first portion representing received characteristic x-rays and a second portion representing received gamma rays. The signal processor moves signals corresponding to Compton discrete photons of electrical signals in the range of omnipotent gamma rays and characteristic x-rays. Configure the analyzer to selectively use the x-ray portion of the processed signal to provide near-field information of the structure, selectively use the x-ray portion and the gamma-ray portion of the processed signal to provide near-field and Far-field information, optionally using the gamma-ray portion of the processed signal, provides extended-field information of the structure.

US Patent No. 5,732,704 to Thurston et al. describes a method for identifying a caretaker lymph node within a set of local nodes located at the lymphatic basin associated with tumor tissue at which to inject radiopharmaceuticals. The radiopharmaceutical travels along the lymphatic vessels towards the basin containing the guardian lymph nodes. A hand-held probe with a front-mounted radioactive detector crystal is moved along the catheter while the physician observes the magnitude graphic readout of the count rate to determine when the probe is aligned with the catheter. When the count rate of the probe increased significantly, the region was concluded to contain sentinel lymph nodes. Along the surgical incision, the probe is steered using an acoustic output that correlates with probe movement, increasing the count rate threshold as displacement increases until the threshold is reached and the physician cannot hear the audio signal. As the probe moves to this point, the probe will be adjacent to the guardian lymph node, which can then be excised.

US Patent No. 5,857,463 to Thurston et al. further describes an instrument for tracking the location of radiopharmaceuticals within lymphatic vessels and guardian lymph nodes where radiopharmaceuticals have concentrated. Use a smaller, straight, hand-held probe with two manual switches. For the tracking procedure, the detector is moved in an undulating fashion, where the position of the catheter containing the radiopharmaceutical is determined by observing the graphic readout. When approaching the area guarding the lymph nodes, the doctor manipulates the switch on the probe device to perform a squelch operation until the area where a small node is located is determined.

US Patent Nos. 5,916,167 to Kramer et al. and 5,987,350 to Thurston describe surgical probes in which a heat sterilizable and reusable probe unit is used in combination with an easy-to-use handle and cable assembly. The reusable detector unit works with a detector crystal and associated accessories along with the preamplifier unit.

US Patent No. 5,928,150 to Call describes a system that utilizes a hand-held detector to detect radiation from radiopharmaceuticals injected into lymphatic vessels. When used to locate guardian lymph nodes, additional features provided include functions for processing the effective photon event pulses to determine the count rate level signal. The system includes a range-based count rate function with adjustable threshold features. A post-threshold amplification circuit produces full-scale audible and visual output.

US Patents 5,932,879 and 6,076,009 to Raylman et al. describe an intraoperative system for preferentially detecting beta rays over gamma rays emitted from radiopharmaceuticals. The system has ion-implanted silicon charged particle detectors used to generate signals based on received beta particles. A preamplifier is located near the detector filter and amplifies the signal. The detectors are connected to a processing unit for signal amplification and filtering.

US Pat. No. 6,144,876 to Bouton et al. describes a system for detecting and locating radioactive sources, particularly for the lymphatic mapping (ILM) procedure performed during surgery. The system employs scanning probes that have both audible and visual sensory outputs. By establishing a floating-window or dynamic-window analysis signal processing method for effective photon event counting, a desired stability in the readout of the system can be achieved. The floating window is defined between an upper edge and a lower edge. The values of these window edges are varied in the analysis according to the compiled count sum values. In general, the upper and lower edges are separated by a value of about four standard deviations.

To calculate the sum of the counts, the counts are acquired by successive short scan intervals of 50 milliseconds, and the resulting count segments are placed in a binary sequence in a circular buffer memory. The floating window changes when the count sum exceeds its upper edge or falls below its lower edge. For each scan interval, a reported average of the computed window edges crossed is generated, which in turn is used to obtain the average count rate signal. The resulting sensory output has a desirable stability, particularly when the probe detector is in the geometry facing a radioactive source.

US Patent 5,846,513 describes a system for detecting and destroying viable tumor tissue in a living organism. The system is configured for use with a tumor-localized radiopharmaceutical. The system includes a percutaneously injectable tumor removal device, such as a transurethral resectectomy device. The radiation detection probe includes a needle having a radiation sensor element and a handle releasably securing the needle. The needle is configured to be inserted into the patient's body through a small skin entry and can be moved to various locations where a tumor is suspected, to detect radioactive indicators of embodied cancerous tissue. The probe can then be removed and a tumor removal instrument inserted through the portal to destroy and/or remove the cancerous tissue. The instrument not only destroys the marked tissue, but removes it from the organism so that it can be tested for radioactivity to confirm whether the removed tissue is cancerous or healthy. A collimator can be used with the detector to establish the detector's field of view.

The main limitation of this system is that once inside the body, the scanning capability is limited to translation along the line of entry.

An effective collimator for gamma rays must be several mm thick, so an effective high energy gamma ray collimator cannot be used for delicate surgical instruments such as surgical needles. On the other hand, due to the chemical reaction of β rays after passing through biological tissue for about 0.2-3mm, most of them are absorbed. Thus, the system described in US Patent No. 5,846,513 cannot effectively use high-energy gamma detection because of the large loss of directionality, and cannot effectively use beta radiation because it requires too much proximity to the emission source, and human tissue limits the maneuverability of the instrument degree.

Management of soft tissue organs requires visualization (imaging) techniques such as computed tomography (CT), fluorescein imaging (X-ray fluorescence imaging), magnetic resonance imaging (MRI), optical endoscopy, mammography, or Ultrasound, to distinguish the boundaries and shape of soft tissue or cellular masses. Over the years, medical imaging has become an essential part of the early detection, diagnosis and treatment of cancer and other diseases. In some cases, medical imaging is the first step in preventing the spread of cancer through early detection, and in many cases it can make it possible to cure or eliminate the cancer with subsequent treatment.

Assessing the presence or absence of tumor metastasis or disease has become a major determinant of whether cancer patients have been effectively treated. Studies have shown that approximately 30% of patients with newly diagnosed tumors exhibit clinically detectable metastases. The remaining 70% of these patients do not have clinical metastases, and about half are curable with local tumor therapy alone. However, some of these metastases, even early primary tumors, cannot be visualized with the aforementioned imaging tools. Moreover, often the most significant part of a tumor to be biopsied or surgically removed is the living, ie, growing part, and conventional imaging alone cannot distinguish this particular part of the tumor from other parts and/or adjacent areas. Unaffected tissues were differentiated.

To localize this active part, a common method is to mark this part with a radioactively labeled material, often called a radiopharmaceutical, given orally or intravenously. The drug is concentrated in such an area because the active part of the tumor has a higher uptake of the drug than the and faster than adjacent tumor tissue. Therefore, a radioactive radiation detector, usually a drop-in detector, is used to locate the location of the active region.

Medical imaging is often used to create computer models that, for example, allow doctors to direct precise rays when treating cancer and to design surgical procedures with minimal access or incisions. In addition, imaging instruments are used during surgery to indicate target areas within the patient's body to the surgeon in the operating room. For example, such treatments may include biopsies, insertion of a localized radiation source known as brachytherapy to directly treat the cancer (so as to prevent radiation damage to tissue near the source), and injection of chemotherapy agents into the cancer site Or remove cancerous or other diseased bodies.

The aim of all these therapies is to identify as precisely as possible the target area in order to obtain a more accurate biopsy result, preferably of the most viable part of the tumor, or complete removal of such a tumor on the one hand, and on the other hand. Surrounding unaffected tissue is minimally damaged.

However, at the current state of the art, this is not possible because most conventional imaging instruments, such as fluoroscopy, CT, MRI, mammography or ultrasound, indicate the location and appearance of the source The tissue changes relative to the surrounding tissue, but the inactive cell mass cannot be distinguished from the pathologically active portion.

On the other hand, prior art radioactive radiation detectors and/or biopsy probes are suitable for identifying the location of the radiation point, but from the perspective of facilitating the removal or destruction of detected cancerous tissue with minimal entry into the patient's body , there are certain defects.

The instrument combination provided by the present invention can reduce the error margin of tumor localization. In addition, the location of the active part of the tumor can be attached to a single scan of the imaging instrument showing the organ or tumor, and surgical tools can be guided to the diseased area during surgical treatment, allowing for more precise and controlled surgery. Surgical treatment minimizes the aforementioned problems.

These and other aspects of the invention are described in further detail below, and provide physicians and patients with more reliable target hits, while resulting in less invasive and less invasive surgical procedures and less potential for misdiagnosis.

Contents of the invention

It is a feature of the present invention to provide a system for calculating the position of a radiation source in a coordinate system, the system comprising: (a) a radioactive radiation detector; (b) a position tracking system, associated with the radioactive radiation detector and (c) a data processor designed and configured to receive data input from the position tracking system and the radioactive radiation detector and to calculate the position of the radioactive radiation source in the coordinate system.

Another feature of the present invention is to provide a system for calculating the position of a radioactive radiation source in a coordinate system, the system comprising: (a) at least two radioactive radiation detectors; (b) a position tracking system, connected to and/or in communication with the at least two radioactive radiation detectors; and (c) a data processor designed and configured to receive data input from the position tracking system and the at least two radioactive radiation detectors, and to calculate radioactivity The position of the radiation source in the coordinate system.

Another feature of the present invention is to provide a method for determining the position of a radioactive radiation source in a coordinate system, the method comprising the steps of: (a) providing a radioactive radiation source connected to or in communication with a position tracking system A radiation detector; (b) monitors the radiation emitted from the radioactive radiation source, and at the same time, monitors the position of the radioactive radiation detector in the coordinate system, thereby determining the position of the radioactive radiation source in the coordinate system.

Another feature of the present invention is to provide a method for determining the position of a radioactive radiation source in a coordinate system, the system comprising the steps of: (a) providing at least one sensor connected to or in communication with a position tracking system; radioactive radiation detectors; (b) monitoring the radiation emitted from the radioactive radiation source, and at the same time, monitoring the position of the at least one radioactive radiation detector in the coordinate system, thereby determining the position of the radioactive radiation source in the coordinate system.

Another feature of the present invention is to provide a system for calculating the position of a radiation source in a first coordinate system and further projecting the position into a second coordinate system, the system comprising: (a) a radioactive radiation detector; (b) a position tracking system connected to and/or in communication with the radioactive radiation detector; and (c) a data processor designed and configured to: The detector receives data input; (ii) calculates the position of the source of radioactive radiation in the first coordinate system; and (iii) projects the position of the source of radioactive radiation into the second coordinate system.

Another feature of the present invention is to provide a system for calculating the position of a radiation source in a first coordinate system and further projecting the position into a second coordinate system, the system comprising: (a) at least two radioactive radiation detectors; (b) a position tracking system connected to and/or in communication with the at least two radioactive radiation detectors; and (c) a data processor designed and configured to (i) obtain from The position tracking system and at least two radioactive radiation detectors receive data input; (ii) calculate the position of the radioactive radiation source in the first coordinate system; and (iii) project the position of the radioactive radiation source into the second coordinate system.

Another feature of the present invention is to provide a method for calculating the position of a source of radioactive radiation in a first coordinate system and projecting the position onto a second coordinate system, the method comprising the steps of: ( a) providing a radioactive radiation detector connected to or in communication with a position tracker; and (b) monitoring the radiation emitted from the radioactive radiation source and, at the same time, monitoring the position of the radioactive radiation detector in a first coordinate system, thereby The position of the source of radioactive radiation is determined in the first coordinate system, and the position is projected onto the second coordinate system.

Another feature of the present invention is to provide a method for calculating the position of a source of radioactive radiation in a first coordinate system and projecting the position onto a second coordinate system, the method comprising the steps of: ( a) providing at least one radioactive radiation detector connected to or in communication with a position tracking system; and (b) monitoring the radiation emitted from the radioactive radiation source and, at the same time, monitoring the position of the at least one radioactive radiation detector in the first coordinate system position, thereby determining the position of the radioactive radiation source in the first coordinate system and projecting the position onto the second coordinate system.

Another additional feature of the present invention is the provision of a system for calculating the position of the patient's body organs and radiopharmaceutical uptake portions of the body organs comprising (a) a two-dimensional (projected or cross-sectional) or three-dimensional (consequtive cross-sectional ) an imaging apparatus connected to and/or in communication with a first position tracking system for calculating the position of a human organ in a first coordinate system; (b) a radioactive radiation detector connected to a second position tracking system and/or in communication therewith, for tracking the position of a radiopharmaceutical uptake portion of a human organ in a second coordinate system; and (c) at least one data processor designed and configured to obtain data from a three-dimensional imaging instrument, radioactive radiation detector , the first position tracking system and the second position tracking system receive data input and calculate the position of the body organ and the radiopharmaceutical uptake portion of the body organ in a common coordinate system.

Another additional feature of the present invention is to provide a method for calculating the location of a patient's body organ and a radiopharmaceutical uptake portion of the body organ, the method comprising the steps of (a) providing a two-dimensional or three-dimensional imaging apparatus, Connecting to and/or communicating with a first position tracking system and calculating the position of human organs in a first coordinate system; (b) providing a radioactive radiation detector connected to and/or with a second position tracking system communicating to track the position of the radiopharmaceutical uptake portion of the human organ in a second coordinate system; and (c) receiving data input from the three-dimensional imaging instrument, the radioactive radiation detector, the first position tracking system, and the second position tracking system, and calculate the positions of the human organ and the radiopharmaceutical uptake portion of the human organ in a common coordinate system.

Another additional feature of the present invention is the provision of a system for performing an in vivo surgical procedure in a radiopharmaceutical uptake portion of a patient's body organ, the system comprising: (a) a radioactive radiation detector coupled with a first position tracking (b) a surgical instrument connected to and/or in communication with a second position tracking system for tracking the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system; to track the position of the surgical instrument in a second coordinate system; (c) at least one data processor designed and configured to receive data input from the first position tracking system, the radioactive radiation detector, and the second position tracking system , and calculate the positions of surgical instruments and radiopharmaceutical uptake parts of body organs in a common coordinate system.

Another additional feature of the present invention is to provide a method for performing an in vivo surgical procedure in a radiopharmaceutical uptake portion of a body organ of a patient, the method comprising the steps of: (a) providing a radioactive radiation detector, Connected to and/or in communication with the first position tracking system to track the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system. (b) providing a surgical instrument coupled to and/or in communication with a second position tracking system for tracking the position of the surgical instrument in a second coordinate system during intracorporeal surgery; and (c) from the above paragraph A position tracking system, radioactive radiation detectors, and a second position tracking system receive data input and calculate the positions of surgical instruments and radiopharmaceutical uptake portions of body organs in a common coordinate system during intracorporeal surgery.

According to further features in preferred embodiments of the invention described below, the second coordinate system is used as the common coordinate system, whereby the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system is projected onto the second coordinate system. in the labeling system.

According to still further features in the described preferred embodiments the first coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake portion of the body organ in the second coordinate system is projected into the first coordinate system .

According to still further features in the described preferred embodiments the second coordinate system, the first coordinate system and the common coordinate system are a single coordinate system.

According to further features in the described preferred embodiments, the first coordinate system, the second coordinate system and the common coordinate system are all an independent coordinate system, so the position of the surgical instrument in the second coordinate system and the position of the body organ The positions of the radiopharmaceutical uptake portions in the first coordinate system are all projected onto the common coordinate system.

According to still further features in the described preferred embodiments the first location tracking system and the second location tracking system are a single location tracking system.

According to still further features in the described preferred embodiments the image display device is operable to visually and cooperatively display the location of the surgical instrument and the radiopharmaceutical uptake portion of the body organ.

According to still further features in the described preferred embodiments the radioactive radiation detector comprises a small angle radioactive radiation detector, a wide angle radioactive radiation detector, individual low angle radioactive radiation detectors and a spatially sensitive Radioactive detectors, such as those of choice in gamma cameras employed in nuclear imaging.

According to still further features in the described preferred embodiments, the first and second position tracking systems may include, but are not limited to, an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system Tracking systems, a combination of an acoustic wave based position tracking system, a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based (eg optical encoder) based position tracking system.

According to still further features in the described preferred embodiments, surgical instruments may include, but are not limited to, laser probes, cardiac catheters, plastic cardiovascular catheters, endoscopic probes, biopsy needles, ultrasound probes, fiber optic microscopes, Combination of suction tube, laparoscopy probe, thermometry probe and suction/irrigation probe.

According to still further features in the described preferred embodiments, radiopharmaceuticals may include, but are not limited to, ¹³¹ I, ⁶⁷ Ga (gallium citrate may be used), ^99M Tc methoxy-containing isobutyl isonitrile, ²⁰¹ TICI, ¹⁸ F-fluorodeoxyglucose, ¹²⁵ I-fibrinogen and ¹¹¹ In-octreotide, etc.

According to still further features in the described preferred embodiments the 2D or 3D imaging apparatus is connected to and/or in communication with a third position tracking system for calculating the position of a body organ in a third coordinate system.

According to still further features in the described preferred embodiments data input is received from a two-dimensional or three-dimensional imaging instrument and a third position tracking system for calculating the position of the surgical instrument, the radiopharmaceutical uptake portion of the body organ and the body organ at a common coordinate position in the system.

According to still further features in the described preferred embodiments the first location tracking system, the second location tracking system and the third location tracking system are a single location tracking system.

According to still further features in the described preferred embodiments the surgical instrument, the radiopharmaceutical uptake portion of the body organ and the location of the body organ are cooperatively displayed using a visual display device.

According to still further features in the described preferred embodiments the first, second and third position tracking systems are independently derived from an articulated arm position tracking system, an accelerometer based position tracking system, a potentiometer based position tracking system Tracking system, an acoustic wave based position tracking system, a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based (eg optical encoder) based position tracking system.

According to still further features in the described preferred embodiments the second coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system and the position of the body organ in the third coordinate system The location of is projected into this second coordinate system.

According to still further features in the described preferred embodiments the first coordinate system is used as a common coordinate system whereby the positions of the surgical instruments in the second coordinate system and the positions of the body organs in the third coordinate system are projected onto in the first coordinate system.

According to still further features in the described preferred embodiments, the third coordinate system is used as the common coordinate system whereby the position of the surgical instrument in the second coordinate system and the portion of the body organ for uptake of the radiopharmaceutical is in the first coordinate system The position in is projected into this third coordinate system.

According to still further features in the described preferred embodiments the second coordinate system, the first coordinate system, the third coordinate system and the common coordinate system are a single coordinate system.

According to further features in the described preferred embodiments, the second coordinate system, the first coordinate system and the common coordinate system are all an independent coordinate system, so the position of the surgical instrument in the second coordinate system, the position of the body organ The position of the radiopharmaceutical uptake part in the first coordinate system and the position of the body organ in the third coordinate system are both projected onto the common coordinate system.

According to another feature of the present invention, there is provided a system for producing a two-dimensional or three-dimensional image of a radioactive radiation source in the body, the system comprising (a) a radioactive radiation detector; (b) a radioactive radiation detector a position tracking system connected to and/or in communication with the radioactive radiation detector; and (c) a data processor designed and configured to receive data input from the position tracking system and the radioactive radiation detector to generate a two-dimensional or three-dimensional image of the radioactive radiation source .

According to another feature of the invention, there is provided a method for producing a two-dimensional or three-dimensional image of a radioactive radiation source in a body, the method comprising the steps of: (a) imaging the body with a radioactive radiation detector (b) using a position tracking system connected to and/or in communication with the radioactive radiation detector to block the position of the radioactive radiation detector in a two-dimensional or three-dimensional coordinate system; The data is processed with the input of the radioactive radiation detector to produce a two-dimensional or three-dimensional image of the radioactive radiation source.

According to another feature of the invention, there is provided a system for performing an in vivo surgical procedure on a radiopharmaceutical uptake portion of a body organ of a patient, the system comprising a surgical instrument connected to and/or in communication with a position tracking system, Used to track the position of surgical instruments in a coordinate system that includes a radioactive radiation detector attached thereto for in situ monitoring of radiopharmaceuticals. The radioactive radiation detector is preferably sensitive to beta radiation and/or positron radiation. It can also be sensitive to low energy (10-30KeV) or gamma rays. The surgical instrument preferably includes a tissue resection device and/or a tissue sampling device, such as a suction device.

In accordance with an additional feature of the present invention, there is provided a system for calculating the position of a source of radioactive radiation in a coordinate system, the system comprising (a) a surgical instrument designed and constructed to enter the body of a patient, the Surgical instruments including a radioactive radiation detector connected to or integrated therein; (b) a position tracking system connected to or in communication with the surgical instrument; and (c) a data processor designed and configured to track from position The system receives data input from a radioactive radiation detector to calculate the position of a radioactive radiation source in a coordinate system.

According to another feature of the invention, there is provided a system for calculating the position of a source of radioactive radiation in a first coordinate system and projecting it into a second coordinate system, the system comprising (a) a design and a surgical instrument configured to enter the body of a patient, the surgical instrument including a radioactive radiation detector attached to or integrated therein; (b) a position tracking system attached to or in communication with the surgical instrument; and (c) A data processor designed and configured to (i) receive data input from the position tracking system and from the radioactive radiation detector; (ii) to calculate the position of the radioactive radiation source in the first coordinate system; (iii) calculate The location of the surgical instrument in the first coordinate system and (iv) projecting the location of the radioactive radiation source and the surgical instrument into the second coordinate system.

According to another feature of the invention, there is provided a method for calculating the position of a source of radioactive radiation in a first coordinate system and projecting it into a second coordinate system, the method comprising the steps of: (a) provide a surgical instrument designed and constructed for entry into the body of a patient, the surgical instrument including a radioactive radiation detector attached to or integrated therein, the surgical instrument attached to or in communication with a position tracking system;( b) Monitor the radiation emitted from the radioactive radiation source, and simultaneously monitor the position of the radioactive radiation detector in the first coordinate system, thereby determining the position of the radioactive radiation source and the surgical instrument in the first coordinate system, and transfer the radioactive radiation The position of the source is projected to the second coordinate system.

According to another feature of the present invention, there is provided a system for calculating the position of a body organ of a patient and the position of a radiopharmaceutical uptake portion of the body organ, the system comprising (a) a two-dimensional or three-dimensional imaging instrument, and a first connected to and/or in communication with a position tracking system and calculates the position of a human organ in a first coordinate system; (b) a surgical instrument designed and constructed to enter a patient's body, the surgical instrument including a or a radioactive radiation detector integrated therein, the surgical instrument is connected to and/or in communication with a second position tracking system for tracking the position of the radiopharmaceutical uptake portion of a body organ in a second coordinate system; and (c) at least A data processor designed and configured to receive data input from a three-dimensional imaging instrument, a first position tracking system, a radioactive radiation detector, and a second position tracking system, and to calculate human organs, radiopharmaceutical uptake portions of human organs, and surgical The location of surgical instruments in a common coordinate system.

According to another feature of the invention, there is provided a method for calculating the position of a body organ of a patient and the position of a radiopharmaceutical uptake portion of the body organ, the method comprising the steps of (a) providing a two-dimensional or three-dimensional image Instruments connected to and/or in communication with a first position tracking system and calculating the position of human organs in a first coordinate system; (b) providing a surgical instrument designed and constructed to enter a patient's body, the surgical Surgical instrument including a radioactive radiation detector associated therewith or integrated therein, the surgical instrument is associated with and/or in communication with a second position tracking system for tracking the position of the radiopharmaceutical uptake portion of a human organ in a second coordinate system and (c) receiving data input from a two-dimensional or three-dimensional imaging instrument, a first position tracking system, a radioactive radiation detector, and a second position tracking system, and computing a human organ, a radiopharmaceutical uptake portion of a human organ, and a surgical instrument A position in a common coordinate system.

The present invention is to improve and detail the generation of one-dimensional, two-dimensional or three-dimensional images of radioactive radiation sources. In particular, the present invention seeks to provide an improved method and system for imaging and guiding diagnostic and therapeutic instrumentation to a target region within a patient, particularly utilizing a nuclear radiation detector with a position tracking system.

In one aspect of the invention, a radiation probe is mounted in a collimator and connected to a position tracking system. As the probe is moved around the patient under examination in a two-dimensional or three-dimensional space, data is collected and a picture is made of the radiation pattern emanating from the patient. An advantage of 2D or 3D scanning is better radiation source localization through a larger number of direction searches, resulting in better safety and accuracy.

The invention is capable of drawing the graph of the radiation source area and the nearby uncertain area. One way to achieve this is to use the feedback system of statistical analysis to determine the boundary of an uncertain region, and guide medical personnel to perform additional scans in these uncertain regions to improve accuracy and reduce errors, thereby making the boundary of the uncertain region minimum.

The present invention works by providing a radioactive radiation detector native and/or integrated into a surgical instrument connected to or in communication with a position tracking system for use in a variety of medical imaging and/or medical procedure systems and In the method, the shortcomings of the existing configurations are successfully overcome.

The present invention has many other uses in the context of therapeutics, such as but not limited to: implantation of short-distance seed sources, cryotherapy with ultrasound, microwave radiofrequency, and localized radiation ablation.

Implementing the method and system of the present invention involves performing or completing selected tasks and steps manually or automatically or a combination of both. Furthermore, according to the instrumentation and equipment of preferred embodiments of the method and system of the present invention, selected steps may be implemented by hardware or software running on any firmware system or a combination thereof. For example, as hardware, selected steps of the invention could be implemented as a chip circuit. As software, selected steps of the invention could be implemented as a plurality of software instructions being executed by a computer using suitable algorithms. In either case, selected steps of the methods and systems of the invention may be described as a data processor, such as a computing platform, executing a plurality of instructions.

Description of drawings

Herein, the present invention will be described by way of example only with reference to the accompanying drawings. Referring now in detail to the accompanying drawings, details of the invention are shown by way of example in order to illustrate the preferred embodiments of the invention, to ascertain what is most useful and to more readily understand the principles and concepts of the invention. In this regard, details of construction of the invention have not been shown in more detail than is required for a basic understanding of the invention, and descriptions made with the accompanying drawings will make those skilled in the art aware of the There are several forms of how the invention may be implemented in practice.

In the attached picture:

Figure 1 is a "black box" diagram of a system described in accordance with the present invention;

Figure 2 is a perspective view of an articulating rod used to support a position tracking system for the radioactive radiation detector shown in accordance with the teachings of the present invention;

Figure 3 schematically illustrates a radioactive radiation detector according to the invention, supporting a pair of three axisymmetric accelerometers for use as a position tracking system.

Figure 4 schematically illustrates a radioactive radiation detector in communication with another type of position tracking system in accordance with the present invention;

Figure 5 is a simplified cross-sectional view of a narrow-angle or wide-angle radioactive radiation detector used to practice an embodiment of the present invention;

Figure 6 shows a scanning protocol that can be implemented with the detector in Figure 5;

Figure 7 is a simplified cross-sectional view of a spatially sensitive radioactive radiation detector, such as a gamma ray camera, useful in practicing another embodiment of the present invention;

Figure 8 shows a scanning protocol that can be implemented with the detector in Figure 7;

Figure 9 shows a system in accordance with the teachings of the present invention using four position tracking systems to cooperatively track the position of a patient, a radioactive radiation detector, an imaging instrument, and a surgical instrument;

Figure 10 shows the use of a pair of radioactive radiation detectors connected by a connector, preferably a flexible connector or a flexible connection mechanism connected to the connector, according to the present invention;

Figure 11 is a schematic diagram of a surgical instrument and accompanying system components described in accordance with the present invention;

Figure 12 is a simplified schematic illustration of an imaging system constructed and operated in accordance with a preferred embodiment of the present invention, including a radiation detector and position sensor, position tracking system, medical imaging system and coordinate reading system;

Fig. 13 is a process of forming a one-dimensional image using a nuclear radiation probe connected to the position tracking system in Fig. 12 according to a preferred embodiment of the present invention;

Figure 14 is a simplified plot of the detection of a point source of radiation by the nuclear radiation detector of the system of Figure 12 according to a preferred embodiment of the present invention, without further processing;

Figure 15 is a flowchart of an averaging algorithm for the imaging system of Figure 12 in accordance with a preferred embodiment of the present invention;

Fig. 16 is a simplified curve of the averaged processing of the detection of a radiation point source using the nuclear radiation probe of the system in Fig. 12 according to a preferred embodiment of the present invention;

Figures 17 and 18 are schematic diagrams of the strongly radioactive cross-shaped and strongly radioactive strip-shaped tomographic images of the image produced by the gamma-ray probe of the system in Figure 12, respectively;

Figure 19 is a flowchart of a minimization algorithm for the imaging system of Figure 12 in accordance with a preferred embodiment of the present invention;

Fig. 20 is a simplified curve of minimizing the detection of a radiation point source using the nuclear radiation probe of the system in Fig. 12 according to a preferred embodiment of the present invention;

Figure 21 is a simplified schematic illustration of an image reconstruction system constructed and operated in accordance with a preferred embodiment of the present invention, the system producing a combined image consisting of the medical image, the location of the point of maximum radiation and the location of the treatment instrument;

Figure 22 is a simplified flowchart of a radiation pattern reconstruction algorithm according to a preferred embodiment of the present invention;

Figures 23A and 23B represent graphs of radioisotope tracers of autonomous thyroid tumors observed in images produced by the system of the present invention and by a conventional gamma camera, respectively;

Figures 24A and 24B represent, respectively, patterns of radioisotope tracers believed to be Paget's disease of the humerus observed in images produced by the system of the present invention and by a conventional gamma camera;

Figures 25A and 25B represent graphs of radioisotope tracers of chronic osteomyelitis observed in images produced by the system of the present invention and by a conventional gamma camera, respectively; and

Figures 26A and 26B represent graphs of radioisotope traces of skeletal metastatic lesions arising from medulloblastoma observed in images produced by the system of the present invention and by a conventional gamma camera, respectively;

Figures 27A-G illustrate the operation of an algorithm provided by the present invention for estimating radiation source distribution within a control value.

preferred embodiment

The present invention relates to a radioactive radiation detector with a position tracking system functionally integrated with 2D or 3D medical imaging instruments and/or with minimal access or other surgical tools. With respect to the location of the imaged portion of the body, the present invention can be used to calculate the location of a concentrated radiopharmaceutical in the body, for example, and this information can be used to perform an efficient and highly accurate minimally invasive surgical procedure.

The principle and working process of the present invention can be better understood with reference to the accompanying drawings and related descriptions.

Before explaining at least one embodiment of the invention in detail, it is to be clear that the invention is not limited in application to the details of construction and arrangement of parts described below or shown in the drawings. The invention is capable of other embodiments or of being practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of describing the invention and should not be construed as limiting.

At least forty years ago, the use of radioactive substances to mark pathologically active tissue in a patient's body and the use of radioactive radiation detectors to determine the location and division of this tissue have been described in the medical literature. Since then, techniques for localizing and compartmentalizing radioisotope-labeled tissue for diagnostic and therapeutic purposes have evolved significantly. In fact, in the diagnosis and/or treatment of diseases such as cancer, blood clots, persistent myoclonus, and abscesses, it is becoming an accepted practice to infuse single-cell lines of Antibodies or other agents, such as fibrinogen and fluorodeoxyglucose labeled with radioactive isotopes (such as ^99M technetium, ⁶⁷ gallium, ²⁰¹ thallium, ¹¹¹ indium, ¹²³ iodine, ¹⁸ fluorine and ¹²⁵ iodine). This radiopharmaceutical facilitates localization in specific tissues and cell types, and increases the uptake or incorporation of specific radiopharmaceuticals in pathologically more active tissues, such as living centers of cancerous tissue, such that, through a A radiation detector is used to detect the radiation emitted by the nuclear disintegration of the underlying isotope to better locate the active part of the tumor. For example, such radiation may be alpha, beta-, beta+ and/or gamma radiation.

In another form of application, radioactive substances can be used to detect the level of blood flow in blood vessels and the level of flow into a tissue, such as coronary blood flow and the amount into the myocardium.

Referring now to the drawings, FIG. 1 illustrates a system for calculating the position of a source of radioactive radiation in a coordinate system, hereinafter referred to as system 20, in accordance with the present invention.

System 20 includes a radioactive radiation detector 22 . The system 20 according to the present invention further includes a location tracking system 24 . System 24 is connected to and communicates with radioactive radiation detectors 22 to monitor The position of detector 22 in a two-dimensional or three-dimensional space defined by a coordinate system 28 . System 20 further includes a data processor 26 . As will be described in detail below, data processor 26 is designed and configured to receive input from position tracking system 24 and radiation detector 22 to calculate the position of the radioactive radiation source in coordinate system 28 . Here, the terms "coordinate system" and "three-dimensional space" are used interchangeably. As shown in FIG. 10 , a pair (or more) of detectors 22 connected by a physical connector, each whose position is tracked, can be used to calculate the position of a radioactive radiation source in a coordinate system 28 . If more than one detector 22 is used, the detectors 22 are preferably interconnected by a connector 29 . Connector 29 is preferably flexible. Alternatively, the required flexibility is provided by the connection between the probe 22 and the connector 29 .

In this technique, position tracking systems are well known per se, and can use one of several methods to determine the position in a two- or three-dimensional space defined by a coordinate system with 2, 3, and up to 6 degrees of freedom. The location of the space. Some position tracking systems use a removable physical connection and appropriate movement monitoring devices (such as potentiometers) to track changes in position. In this way, the system can track the change of position after detection, so as to determine the actual position at any time. An example of such a position tracking system is a flexible arm.

Fig. 2 shows a soft joint arm 30, which includes 6 arm parts 32 and a support 34, so that position data can be provided in 6 degrees of freedom. The monitoring of position changes can be done in one or more ways. For example, a potentiometer or optical encoder 38 is provided for each arm 32 for monitoring the angle between adjacent arms 32, thereby monitoring the change in angle between each such arm and an adjacent arm, To determine the spatial position of the radioactive radiation detector 22 physically connected to the soft joint arm 30.

As shown in Figure 3, other position tracking systems may be directly connected to the radioactive radiation detector 22 in order to monitor its spatial position. An example of such a position tracking system is a class of three three-axis (eg, mutually perpendicular) oriented accelerometers 36 that can be used to monitor changes in the position of radioactive radiation source 22 in a space. As shown in FIG. 3, a pair of such instruments can be used to determine the position of the detector 22 with 6 degrees of freedom.

As shown in Figures 4 and 10, other position tracking systems redefine a position regardless of a previously determined position, to track changes in position. Typically, such systems employ a set of receiver/transmitters 40 distributed at known locations in a three-dimensional space, and each transmitter/receiver 42 is physically connected to the object at the monitored location. In this case, time-based triangulation and/or phase-shift triangulation are used to periodically determine the position of the monitored object, in this example the position of the radiation detector 22 . For example, U.S. Patents 5,412,619; 6,083,170; 6,063,022; 5,954,665; 5,840,025; 5,718,241; 5,713,946; 5,694,945; An example of such a position tracking system is employed in various applications of magnetic field and optical encoding.

Radioactive radiation detectors are well known in the art, and one of several methods can be used to determine the amount of radioactive radiation emitted by an object or a portion of the object. Depending on the type of radiation, such detectors typically include a substance that, when particles emitted by radioactive decay interact, emits electrons or photons at energy levels proportional to the collision energy level of the radiation over a wide linear operating range. The emission of electrons or photons is measurable and, therefore, used to quantitatively determine the energy level of the radiation. For example, pixelated (Pixellated) or unpixellated (unpixellated) N-type, P-type, PIN-type solid-state detectors include Ge, Si, CdTe, CdZnTe, CdSe, CdZnSe, HgI ₂ , TiBrI, GaAs, InI, GaSe, Diamond, TlBr, _PbI2 , InP, ZnTe, HgBrI, a-Si, a-Se, BP, GaP, CdS, SiC, AlSb, PbO, _BiI3 and ZnSe detectors. Gas (such as CO ₂ CH ₄ ) filled detectors include ionization chamber detectors, proportional counter tube detectors and Geiger counter tube detectors. Scintillation detectors include organic scintillator crystals and liquids, such as C ₁₄ H ₁₀ , C ₁₄ H ₁₂ , C ₁₀ H ₈ , etc. Plastic NE102A, NE104, NE110, Pilot U and inorganic scintillators such as NaI, CsI, BGO, LSO, YSO, BaF, ZnS, ZnOCaWo ₄ and CdWO ₄ . Also known are scintillation fiber detectors. Scintillator coupling includes the following types of photomultiplier tubes (PMTs): side, front, hemispherical, position sensitive, icrochannel disk photomultiplier tubes (MCT-PMTs), and electron photomultiplier tubes or photodiodes (and photodiode arrays), such as Si photodiodes, Si PIN photodiodes, Si APDs, GaAs(P) photodiodes, GaP, and CCDs.

Figure 5 shows a narrow angle or wide angle radioactive radiation detector 22'. The narrow-angle or wide-angle radioactive radiation detector 22' includes a narrow slit (collimator) so as to only allow the radiation from a predetermined angular direction (such as wide angle: 1-280 degrees, preferably narrow angle: 1-80 degrees) ) arriving rays enter the detector. For example, narrow-angle or wide-angle radiation detectors particularly suitable for the configuration in Figure 10 are manufactured by Neoprobe, Dublin, Ohio (www.neoprobe.com), USA, Nuclear Fields, USA (www.nufi.com), IntraMedical Imaging , Los Angeles, CA, USA (www.gammaprobe.com).

As shown in FIG. 6, such a detector is generally used to make point-by-point measurements of radioactivity by scanning the surface of a radioactive object from multiple directions and distances. In the example shown in the figure, scanning from four different directions is used. It should be appreciated that if sufficient radiation counts are collected from different angles and distances, and the spatial position and orientation of the detector 22' are simultaneously monitored and recorded during such scans, then a three-dimensional model of an radioactive region can be reconstructed, and determine its spatial location. Results can be collected more quickly if two or more detectors are used in combination, as in the configuration shown in Figure 10.

Figure 7 shows another example of a radioactive detector, a spatially sensitive (pixelated) radioactive radiation detector 22" (such as a gamma camera). In practice, the detector 22" includes a number of narrow-angle detection elements An array of 23. In accordance with the present invention, such an arrangement is employed to reduce the amount of measurements and angles required to acquire sufficient data to reconstruct a three-dimensional model of the radioactive object. Examples of spatially sensitive radiation detectors employed in a variety of situations are described, for example, in US Patent Nos. 4,019,057; 4,550,250; 4,831,262; and 5,521,373, incorporated herein by reference. An additional example is the Compton probe (http://www.ucl.ac.uk/Medphys/posters/giulia/giulia.htm). Figure 8 shows an alternative scan by a spatially sensitive radiation detector 22", such as a gamma camera.

A particularly advantageous radioactive radiation detector for use in the present invention is the Compton gamma detector, since in a Compton gamma detector the spatial resolution is independent of the sensitivity and can clearly exceed the noise equivalent sensitivity of a directional imaging system , to obtain a system with high spatial resolution. Compton probes are a new type of gamma detectors that use Compton scattering motion to construct a source image without resorting to mechanical collimators. The Compton telescope was first built in the 1970s for astronomical observations [V. Schoenfelder et al., Astrophysical Journal 217(1977) 306]. The first laboratory instruments for medical imaging were proposed in the 1980s [M. Singh, Med. Phys. 10(1983) 421]. Potential advantages of Compton gamma probes include higher efficiency, three-dimensional imaging without detector movement, and more compact and lightweight systems. In a Compton gamma probe, high energy gamma is scattered from a first detector layer (or array of detectors) into a second detector layer array. The energy stored per gamma ray is measured in two detectors. Using the line drawn between the two detectors, the Compton scattering equations can be solved to determine the possible orientation of the cone about this axis in which the gamma rays must enter the first detector. The intersection of the cones is then derived from multiple events to locate the gamma source in the detector's field of view. Obviously, considering only coincident events, their energies are more accurately determined, reducing the uncertainty in the spatial angle of arrival at the cone. The probe's electrical system combines qualified measurements made on multiple detectors with a detector layer with very good energy resolution. The geometry and material choice of the first layer of detectors play an important role in the imaging performance of the system and depend on (i) the material efficiency of a single Compton event compared to other interactions; (ii) the detection detector energy resolution; (iii) detector position resolution. In particular, the overall angular resolution produced by the combination of the two components is related to the energy resolution and the pixel volume of the detector.

Thus, as described in the present invention, by connecting a radioactive radiation detector to a position tracking system, instantaneous radioactivity detection can be performed and position tracking can be performed at the same time. In this way, the shape, size and contour of the radiation object can be accurately calculated, as well as its precise position in a three-dimensional space.

Accordingly, the present invention provides a method for determining the position of a source of radioactive radiation in a coordinate system. The method is carried out by (a) providing a radioactive radiation detector connected to and in communication with a position tracking system; and (b) monitoring the radiation emitted from the radiation source and, at the same time, monitoring the radioactive radiation detector at coordinates The position in the coordinate system, thereby determining the position of the radioactive radiation source in the coordinate system.

Those skilled in the art will appreciate that the model produced by system 20 may be projected onto any other coordinate system, or that other position tracking systems may share the coordinate system determined by position tracking system 24, as described in further detail below. description so that no projection is required.

Thus, as further shown in FIG. 1, the system 20 of the present invention can be used to calculate the position of a radioactive radiation source in a first coordinate system 28, and further project it onto a second coordinate system 28'. The system includes a radioactive radiation detector 22, a position tracking system 24 connected to and in communication with the radioactive radiation detector 22, and a data processor 26 designed and configured to (i) obtain information from the position tracking system 24 and the radioactive radiation detector 22 receiving data input; (ii) calculating the position of the radioactive radiation detector in the first coordinate system; and (iii) projecting the position of the radioactive radiation detector onto the second coordinate system.

The invention also provides a method for calculating the position of a radioactive radiation detector in a first coordinate system and projecting it into a second coordinate system. The method is carried out by (a) providing a radioactive radiation detector connected to or in communication with a location tracking system; and (b) monitoring radiation emitted from a radiation source, while monitoring the radioactive radiation detector at A position in a coordinate system whereby the position of the source of radioactive radiation is determined in the first coordinate system and projected onto a second coordinate system.

It should be appreciated that the combination of a radioactive radiation detector and a position tracking system connected to and/or in communication therewith enables a suitable data processor to generate a two-dimensional or three-dimensional image of the radioactive radiation source. An algorithm can be used to calculate the image intensity, for example, based on an average radiance count and produce a probability function of an image where the smaller the interval between the radiance counts, the brighter the image and vice versa, while rescanning a location Make downward compensation. For this, a freehand scan can be performed with a directional detector.

In one embodiment, when an area of the body is scanned by the probe, the probe is moved along a three-dimensional surface which defines the curve of the body and effectively serves as a position tracking pointer. This information can be used to determine the location of the source of radioactive radiation relative to the outer surface of the body in order to produce a three-dimensional map of the source of radiation and the curves of the body. This approach can also be taken during an open surgery, such as open thoracic surgery, to provide the surgery with information about tissue function in real time.

A radioactive radiation detector useful in the present invention may be a beta ray detector, a gamma ray detector, a positron detector or any combination thereof. A detector sensitive to beta radiation (and/or positrons) and gamma rays can be used to improve localization, for example, by detecting the distance of the gamma rays from the source and scanning the beta or positron rays close to the source. A beta detector is designed to detect electrons from radioactive sources, such as ¹³¹ iodine, or positrons, such as ¹⁸ fluorine. A gamma detector can be designed as a single energy detector, or as a detector that can distinguish between different types of energies using the light intensity in the scintillator as a relative measure of gamma energy. Also, the detectors can be designed to take advantage of coincident detection by using detectors facing each other (180 degrees) with an organ or tissue in between. Radiation detectors can have different collimators of different diameters. Collimators with large apertures are used to obtain low resolution and high intensity, while collimators with small apertures provide high resolution but reduce intensity.

Another possibility is to use a moving or rotating collimator with eccentric apertures so that at any instant the incoming photons are at a different solid angle, so that photons are collected from overlapping volumes at different time intervals. If the probe is moved or the off-center aperture of the collimator is moved, the rest of the imaging process is similar.

The system 20 of the present invention may be used with other medical devices, such as, but not limited to, any of a variety of imaging and/or surgical instruments.

Imaging instruments are well known in the art, and the principal instruments used for two-dimensional (projective or cross-sectional) or three-dimensional (cosequtive cross-sectional) imaging are fluoroscopy, computerized tomography scanners, magnetic resonance imagers, ultrasound imagers and optical cameras.

Medical images of the human body are usually acquired and displayed in three orientations (i) coronal: for example in a section (plane) through the shoulder, for example, transecting the shoulder divides the body into front and rear halves; (ii) sagittal Direction: such as a section (plane) from the middle down, dividing the human body into left and right halves; and (iii) axial: a section (plane) perpendicular to the long axis of the human body, dividing the human body into upper and lower halves. Oblique views can also be obtained and displayed.

Many types of X-ray imaging are key to diagnosing many types of cancer. Conventional X-ray imaging has evolved over 100 years, but the basic principles remain the same as when they were first introduced in 1895. An x-ray source is tuned and the x-rays are emitted through the body part of interest onto a film cassette located under or behind the body part. The energy and wavelength of X-rays allow them to pass through body parts and produce images of internal structures such as bones. For example, when X-rays pass through the palm of the hand, they are attenuated by the different densities of tissue they encounter. Because of its density, bone attenuates X-rays more than the surrounding soft tissue. It is these differences in absorption, and the corresponding changes in the exposure level of the film, that produce the image. In fact, the X-rays produce projections of the integrated density of cylindrical voxels determined by them as they pass through the body.

Fluoroscopy is a method based on the principles of film x-rays used to detect abnormalities in the upper gastrointestinal (GI) system, such as the stomach and bowel. Fluoroscopy imaging produces a moving x-ray picture. Doctors can look at the screen and see an image of the patient's body (such as a beating heart). Fluoroscopy has been greatly improved with the use of additional television cameras and fluoroscopy "image intensifiers". Many conventional x-ray systems today have the ability to switch between radiographic and fluorographic modes. The latest X-ray systems have the capability to acquire X-ray images and fluorescence images using digital detection.

Computed tomography (CT) is based on the principle of X-rays in which film is replaced by detectors that measure the X-ray profile. Inside the hood of a CT scanner is a rotating gantry with an X-ray tube mounted on one side and a detector mounted on the other. As the rotating gantry rotates the X-ray tube and detector around the patient, a fan-shaped X-ray beam is produced. Each time the X-ray tube and detector rotate through 360 degrees, an image, or "slice," is taken. This "slice" is collimated to a thickness between 1 mm and 10 mm using a lead shutter in front of the X-ray tube and X-ray detector.

As the X-ray tube and detector rotate through 360 degrees, the detector acquires multiple profiles of the attenuated X-ray beam. Typically, 1,000 profiles are sampled in one 360-degree turn. Each profile is spatially divided by detectors and fed into approximately 700 individual channels. Each profile is then reconstructed in reverse (or "back-projected") into a two-dimensional image of the scanned "slice" using a dedicated computer.

The CT bucket and table have multiple microprocessors that control the rotation of the bucket, movement of the table (up/down, in/out), tilting of the bucket to obtain tilted images, and other functions such as switching the X-ray beam on and off . The CT includes a slip ring that allows power to be delivered from a regulated power source to the continuously rotating barrel rack. Innovations in electrical slip rings have led to a new type of CT called helical scanning. Now, these helical scanners can rapidly image areas of tissue such as the lungs during a 20-30 second breath-stopping period. Instead of acquiring a set of individual slices that may be misaligned by slight patient movement or breathing (and lung/abdominal movement) during slice acquisition, helical CT acquires a batch when the patient's body tissue is completely in one position data. Computer reconstruction of this batch of data can then be performed to provide a three-dimensional model of, for example, a complex renal artery or aortic vessel. Spiral CT can obtain CT data that is especially suitable for three-dimensional reconstruction.

MR imaging is superior to CT in the detection of soft tissue lesions such as tumors because of its good contrast resolution, and it can show subtle soft tissue changes with exceptional clarity. As such, MR is often the method of choice for diagnosing tumors and searching for metastatic lesions. MR uses magnetic energy and radio waves to produce single or continuous cross-sectional images, or "slices," of the body. The main component of most MR systems is a large tubular or cylindrical magnet. In addition, there are MR systems with C-magnets or other types of non-closed designs. The magnetic field strength of an MR system is measured in the metric unit "Tesla". Most cylindrical magnets have a field strength of 0.5-1.5 Tesla, while most open or C-type magnets have a field strength of 0.01-0.35 Tesla.

A magnetic field is generated inside the MR system. Each MR monitoring usually consists of 2-6 serial procedures. An "MR procedure" is the acquisition of data that produces a specific image orientation and a specific type of image appearance or "contrast". During the examination, a radio signal is turned on or off, and as a result, energy absorbed by different atoms in the body is reflected back out of the body. These reflections are continuously measured by "gradient coils" which are switched on and off to measure the MR signal reflections. In a rotating coordinate system, the net magnetization vector rotates from the longitudinal position by a distance proportional to the duration of the RF pulse. After a certain time, the net magnetization vector turns through 90 degrees and lies in the transverse or x-y plane. The net magnetization on MRI can be detected at this location. The angle through which the net magnetization vector turns is often referred to as the "flip" or "tilt" angle. At angles greater or less than 90 degrees, there will still be a small magnetization component in the x-y plane, so detection is possible. The RF coil is the "antenna" of the MRI system and can transmit RF to the patient and/or receive return signals. While the subject coil is used as a transmitter, the RF coil can be used for receive only; it can also be used for both transmit and receive (transceiver). Surface coils are the simplest coils. are simple circular or rectangular loops of wire placed over the area of concern.

A digital computer reconstructs these reflections into an image of the human body. One advantage of MRI is that it can easily view the body from any direction, while CT scanners usually only obtain cross-sectional views that are perpendicular or nearly perpendicular to the body.

Ultrasound imaging is a versatile scanning technique that uses sound waves to produce images of organ or tissue structures for diagnosis. The ultrasound procedure involves placing a small device called a transducer on the patient's skin close to the area of interest, such as the kidney. Ultrasonic sensors combine the functions of emitting and receiving sound. The sensor produces an inaudible, high-frequency sound wave that penetrates the body and reflects off internal organs. Sensors detect sound waves as they bounce off internal structures or the contours of an organ. Different tissues reflect sound waves differently, producing signals that can be measured and converted into an image. These sound waves are received by an ultrasound machine and converted into live images by a computer and reconstruction software.

Ultrasound scans have many uses, including: diagnosis of disease and structural abnormalities, and as an aid in other diagnostic procedures, such as needle biopsies.

Certain ultrasound techniques have limitations: good images may not be obtained in all cases, and scans may not produce results as precise as other diagnostic imaging procedures. Additionally, scan results may be affected by physical abnormalities, chronic disease, excessive movement, or incorrect sensor placement.

Today, two-dimensional (cross-sectional) and three-dimensional (consequtive cross-sectional) ultrasound imaging techniques are available. It is worth mentioning that Doppler three-dimensional ultrasound imaging.

In many cases, the imaging instrument itself includes (eg, fluoroscopic imaging, CT, MRI) and/or integrates a position tracking system, which can be used to reconstruct the 3D image model and provide a position in 3D space.

It should be appreciated that, similar to a vision system, optical cameras can also be used in accordance with the present invention to generate 3D image data by imaging the human body in multiple (at least two) directions. This type of imaging is particularly useful in open chest surgery or other open surgical procedures. Software for computing a three-dimensional image from a pair of space mirror images is well known in the art.

Thus, as used herein and in the following claims, the term "three-dimensional imaging apparatus" refers to any type of imaging device, including software and hardware, that produces a three-dimensional image. Such a device could generate a three-dimensional image by sequentially imaging cross-sections of the human body as viewed from a single direction. Alternatively, such a device could produce a 3D image by imaging from different angles or directions (usually two) and then combining the data into a single 3D image.

Surgical instruments are also well known in the art and can be utilized in one of a variety of configurations to perform minimally invasive surgical procedures. Examples include laser probes, cardiac and angiosarcoma catheters, endoscopic probes, biopsy needles, breathing tubes or needles, ablation devices, ultrasound probes, fiber optic microscopes, laparoscopy probes, temperature probes, and suction/irrigation probes.例如这里全面参考的美国专利6,083,170；6,063,022；5,954,665；5,840,025；5,718,241；5,713,946；5,694,945；5,568,809；5,546,951；5,480,422；5,391,199；5,800,414；5,843,017；6,086,554；5,766,234；5,868,739；5,911,719；5,993,408；6,007,497；6,021,341；6,066,151；6 Examples of these surgical instruments used in various medical settings are described in 071,281; 6,083,166 and 5,736,738.

For some applications, examples of which are provided in the aforementioned patent listing, surgical instruments are integrated with position tracking systems capable of monitoring the position of these instruments as they are placed or guided into the body of the patient being treated.

According to a preferred embodiment of the invention, the surgical instrument is equipped with an additional radioactive radiation detector connected to it or placed therein. According to a preferred aspect of the invention, the additional detector is adapted to fine-tune the position of the radioactive radiation emanating from the body and close to the radiation source. Because the surgical tool is preferably connected to or in communication with a position tracking system, the position of the additional detector can be monitored and its readings used to fine-tune the position of the radiation source in the body. Thus, according to this feature of the invention, at least one external detector and one internal detector cooperate to determine the position of the radiation source inside the body with a maximum accuracy. External detectors provide the approximate location of the source and are used to guide surgical instruments, while internal detectors are used to reconfirm that the radiation source is correctly aligned with the utmost precision prior to treatment or biopsy.

According to this preferred embodiment of the invention, an in vitro and an in vivo probe as described above is used, whereas for some applications a single in vivo probe may be used which is connected or integrated into a in tracked surgical instruments.

The use of in vivo and in vitro detectors requires careful selection of the isotope used in the radiopharmaceutical. In vitro detectors can be constructed with collimators suitable for handling intense radiation such as gamma rays, and in vivo detectors are themselves small, limited in design and construction by the surgical instruments used. Since the collimator for high-energy (80-511KeV) gamma rays is inherently robust and not easily used in miniature detectors, the characteristics of electron (beta) and positron rays are: (i) when they are at low energy and high chemical reactivity, are well absorbed by biological tissue; and (ii) can be easily collimated and focused using thin metal collimators. Low energy (10-30 KeV) gamma rays can also be used in in vivo applications, as gamma positive photons can be collimated using thin layers of Tantalum or Tungsten. Thus, the radiopharmaceutical is selected to emit gamma and beta and/or positron radiation, while the in vitro detectors are positioned to monitor high energy gamma and the in vivo detectors are positioned to detect low energy gamma, beta and/or positron radiation. Isotopes that emit high-energy gamma and/or low-energy gamma, beta, and/or positron radiation and can themselves be used as part of complex radiopharmaceuticals include, but are not limited to, ¹⁸ F, ¹¹¹ In, and ¹²³ I radioactive radiopharmaceuticals that have, but Not limited to, 2-[ ¹⁸ F]fluoro-2-deoxy-D-glucose ( ¹⁸ FDG), ¹¹¹ In-Pentetreotide ([ ¹¹¹ In-DTPA-D-Phe ¹ ]-octreotide), L-3-[ ¹²³ I]-Iodo-alpha-methyl-tyrosine (IMT), O-(2-[ ¹⁸ F]fluoroethyl)-L-tyrosine (L-[ ¹⁸ F]FET), ¹¹¹ In- Capromab Pendetide (CYT-356, Prostascint) and ¹¹¹ In-Satumomab Pendetide (Oncoscint).

Figure 11 illustrates a system in accordance with this feature of the invention. Surgical instrument 100 is connected to an ablation/suction control element 102 as is well known in the art. Surgical instrument 100 includes a radiation detector 104 with a collimator 106 to collimate low energy gamma, beta and/or positron radiation. In some embodiments, detector 104 may translate within instrument 100 as indicated by arrow 108 . Therein a position tracking system with an element 110 connected to the instrument 100 and another element 112 with a fixed position is used to monitor the position of the instrument 100 at any time with 2, 3, up to 6 degrees of freedom. The radioactive radiation detector 104 communicates with a counter 114 to count low energy gamma, beta and/or positron radiation. All data is transferred to and processed by a processor 116 . 2D or 3D data can be projected from imaging data acquired from imaging instruments utilizing a shared display device as otherwise described herein. Real and virtual images of the surgical instrument itself can also be displayed synergistically. Examples of commercially available radioactive radiation detectors that can be mounted inside, such as biopsy needles, include scintillating plastic optical fibers such as the S101 and S104 manufactured by PPLASTIFO or with a scintillator (detector paint or scintillation Crystal) optical fiber for communication. The energy level of the detected radiation can be reported visually or by an audible signal, as is well known in the art.

Thus, a surgical instrument equipped with a radioactive radiation detector and connected to and/or in communication with a position tracking system constitutes an embodiment according to this feature of the invention. Such a design for co-operation with conventional imaging equipment and/or external radioactive radiation detectors constitutes a further embodiment according to this feature of the invention. In all cases, surgical instruments equipped with a radioactive radiation detector coupled to and/or in communication with a position tracking system are used to fine-tune the radioactive source in situ in the human body.

It will be appreciated that in some minimally invasive therapies, the location of the patient itself may even be monitored by a location tracking system, for example, using electronic or physical fiducial markers attached to certain locations on the body.

Thus, as described further below, by projecting the three-dimensional data and positions received from the aforementioned devices into a common coordinate system, or by adopting a common coordinate system for all devices, the data can be integrated into a remote Advanced comprehensive display.

Figure 9 shows an example of this ideal result. In the illustrated embodiment, four independent position tracking systems 50, 52, 54, and 56 are utilized to track the patient 58, imaging instrument 60, a radioactive radiation detector 62, and a surgical instrument 64 at four independent coordinates. Locations in systems 66, 68, 70 and 72. If the patient is stationary, there is no need to track the patient's position.

It should be clear that any accessory device or all position tracking systems used may be integrated into one or more common location tracking systems, any accessory device or all position tracking systems used may share one or more coordinate systems, and Position data acquired by a position tracking system described in any coordinate system may be projected onto any other coordinate system or a separate (fifth) coordinate system 74 . In a preferred embodiment, for use at the patient's torso, the coordinate system should be a dynamic coordinate system that takes into account the respiratory movement of the patient's chest during treatment.

As shown at 76, the raw data collected by the detector 62 is recorded, and as shown at 78, the position and radioactivity recordings are used to generate a three-dimensional model of a radiopharmaceutical uptake portion of the patient's body organ.

Similarly, as shown at 80, imaging data acquired by imaging instrument 60 is recorded, and the position and imaging data records are utilized to generate a three-dimensional model of the imaged patient's body organ.

All acquired data is then sent to a data processor 82 which processes the data, as shown at 84, to produce a combined or superimposed display of the radiological and imaging data pertaining to the location of the patient 58 and surgical instrument 64.

A more precise treatment can then be performed using the instrument 64 which itself can be displayed in the combination. Processor 82 may be a single entity or may comprise a plurality of processing stations in direct communication with or integrated within one or more of the described means.

The present invention offers a major advantage over the prior art in that it integrates data related to body parts obtained by two separate imaging techniques - conventional imaging and radiological imaging - in positional processing, thereby enabling the surgeon to Pinpoint the body part to sample or treat.

It should be appreciated that some of the equipment depicted in Figure 9 can be used as a stand-alone system. For example, the combination of probe 62 and its position tracking system, instrument 64 and its position tracking system may be sufficient in some cases to enable in vivo therapy. If only for diagnostic purposes, and no biopsy is required, the position tracking system of the probe 62 and the position tracking system of the instrument 60 are sufficient.

Referring now to FIG. 12, there is illustrated an imaging system 200 constructed and operative in accordance with a preferred embodiment of the present invention. Imaging system 200 preferably includes a radioactive probe 202, such as narrow angle radioactive radiation detector 22' described above with reference to FIGS. 5 and 10 .

A position sensor 204 is provided for detecting the position of the radiation probe 202 . The position sensor 204 may be physically connected to the radiation probe 202 or may be separate therefrom. The location sensor 204 sends sensed location data to a location tracking system 206 . Position tracking system 206 may be similar to the position tracking system described above with reference to FIG. 1 , and position sensor 204 may be any sensor suitable for such a position tracking system.

Another method that can be used to locate a source of radioactive radiation is to use a small hand-held gamma camera 205 (such as DigiRad 2020tc Imager™, 9350 Trade Place, San Diego, California 92126-6334, USA) connected to a position sensor 204.

The position tracking system 206 enables the radiation probe 202 to freely scan back and forth in two or three dimensions over the area of interest, preferably adding a short distance between each scan. The position tracking system 206 tracks the position of the ray probe 202 in the position tracking coordinate system, such as the distances Xp, Yp and Zp relative to the origin Op.

Imaging system 200 also includes a medical imaging system 208 such as, but not limited to, computed tomography (CT), magnetic resonance imaging (MRI), ultrasound imaging, positron emission tomography (PET) and single Positron Emission Tomography (SPECT). The medical imaging system 208 provides images of the patient 209 in the medical imaging coordinate system, such as distances Xm, Ym and Zm relative to the origin Om.

Imaging system 200 also includes a coordinate registration system 210 as described in US Patent Application Serial No. 09/610,490 referenced herein. The coordinate registration system 210 is adapted to register the coordinates of the position tracking system with the coordinates of the medical imaging system.

The location tracking system 206, medical imaging system 208, and coordinate registration system 210 are preferably in wired or wireless communication with a processing unit 212 (also referred to as a data processor 212).

During operation of imaging system 200, after radiopharmaceutical treatment of patient 209, a clinician/physician/surgeon (not shown) may move or scan radiation probe 202 around the target area during an examination. The movement or scanning motion of the radiation probe 202 is tracked by measuring the radiation count rate with the radiation probe 202 and correcting the count rate with the corrected count rate indication by the position tracking system 206 to obtain a physiological activity map of the target area.

Reference is now made to FIG. 13, which illustrates an imaging modality with a radiation probe 202 in accordance with a preferred embodiment of the present invention. For the sake of simplicity, the example shown in Fig. 13 is for a one-dimensional image form, but it is easy to understand that the same principle can be used for image forms of other dimensions.

In an example of implementing the present invention, the radiation probe 202 may be a gamma ray probe including a collimator 211 and a radiation detector 213 . The gamma rays are projected onto the radiation detector 213 by the probe collimator 211, and electrical signals are generated according to the detected radiation. The radiation probe 202 sends pulses to a probe counter 215 that includes a pulse height analyzer circuit (not shown) that analyzes the electrical signal generated by the radiation detector 213 . If the electrical signal is in a selected energy window, the energy level of the radiation is counted by the probe counter 215, ie the value of the radiation counter.

Examples of suitable radiation detectors include solid state detectors (SSD) (CdZnTe, CdTe, HgI, Si, Ge, etc.), scintillation detectors (NaI(TI), LSO, GSO, CsI, CaF, etc.), gas detection detector, or scintillation fiber detector (S101, S104, etc.).

A position sensor 204 associated with the radiation probe 202 detects the position of the radiation probe 202, and a position tracking system 206 calculates and monitors the position of the radiation probe 202 in the position tracking coordinate system. Calculation and monitoring of linear displacements in 2, 3, and up to 6 degrees of freedom - X, Y, and Z, and rotations around the X, Y, and Z axes (i.e., angles of rotation ρ, θ, and φ, respectively).

Examples of suitable position tracking systems include measuring robotic arms (FaroArm, http://www.faro.com/products/faroarm.asp), optical tracking systems (Northern Digital Inc., Ontario, Canada NDI-POLARIS passive or active source system), magnetic tracking system (NDI-AURORA), infrared tracking system (E-PEN system, http://www.e-pen.com), and ultrasonic tracking system (E-PEN system).

The processing unit 212 combines the radiation detection count rate of the probe counter 215 and the position information of the position tracking system 206, and utilizes an imaging software algorithm 217 to form a two-dimensional or three-dimensional image of the radiotracer distribution of the target area in the patient. The spatial probe position and spatial count rate may be stored together in a memory or displayed on a computer monitor 214 as a signature corresponding to the spatial count rate position.

An example of such a graph is shown in FIG. 14, which represents the unprocessed radiation of a radiation point source 218 (FIG. 13) at a depth of 30 mm in the human body detected by a 10 mm nuclear radiation probe 202 connected to a position tracking system 206. 1D simulation. The graph of Figure 14 shows the surgeon a maximum count rate of about 500 at a probe position of about 50 mm.

In a preferred embodiment of the present invention, imaging software algorithm 217 uses an averaging process to refine the graph of FIG. 14 . This averaging process will be described below with reference to FIG. 15 .

The probe counter 215 sends the probe count rate information N (Xc, Yc, Zc, ρ, θ, φ) to the processing unit 212 (step 301). The position sensor 204 sends the probe position information (Xc, Yc, Zc, ρ, θ, φ) to the processing unit 212 (step 302). Probe parameters such as physical dimensions (dx, dy, dz) are also input to the processing unit 212 (step 303).

Subsequently, the processing unit searches the memory of the processing unit for all voxels (ie voxels) representing the intensity of the probe (step 304), ie Xc+dx, Yc+dy, Zc+dz. The processing unit 212 calculates the number of calculation processes performed in each voxel, ie, M(Xc, Yc, Zc, ρ, θ, φ), from the beginning of the imaging information (step 305). The processing unit 212 then calculates a new average count rate in each voxel according to the following formula (step 306):

N(Xc+dx, Yc+dy, Zc+dz)=

[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, c+dz)+1]

The processing unit 212 then corrects the display image representing the voxels received at N(Xc+dx, Yc+dy, Zc+dz) (step 307). The algorithm is then repeated for the next probe position (step 308).

Figure 16 shows the graph obtained by applying the averaging algorithm in Figure 15 to the example in Figure 14.

Figures 17 and 18 respectively show the strong radiation cross image and the strong radiation 4.77mm strip image produced by the gamma radiation probe connected to the position tracking system 206 in Figure 15 and the averaging algorithm. Probe images were formed using a probe EG&G Ortec NaI (TI) model 905-1 (thickness = 1", diameter = 1") connected to a ScintiPack model 296. The position tracking system used was the Ascension miniBIRD commercially available from Ascension Technology Corporation, P.O. Box 527, Burligton, Vermont 05402 USA (http://www.ascension-tech.com/graphic.htm). Ascension Technology's magnetic tracking and positioning systems use DC magnetic fields to overcome obstruction and distortion from nearby metal. The signal can pass through the human body without attenuation.

In other embodiments of the invention, imaging software algorithm 217 may employ a minimization process to refine the curve in FIG. 14, as described below with reference to FIG.

The probe counter 215 sends the probe count rate information N (Xc, Yc, Zc, ρ, θ, φ) to the processing unit 212 (step 401). The position sensor 204 sends detected position information (Xc, Yc, Zc, ρ, θ, φ) to the processing unit 212 (step 402). Probe parameters such as physical dimensions (dx, dy, dz) are also input to the processing unit 212 (step 403).

Subsequently, the processing unit 212 looks up all three-dimensional pixels representing the probe volume in the processing unit memory (step 404), i.e. Xc+dx, Yc+dy, Zc+dz, and the processing unit 212 retrieves from the three-dimensional pixels representing the probe volume in the processing unit memory Among the pixels, those voxels with count rate values (Xc+dx, Yc+dy, Zc+dz) higher than the input detection count rate values N(Xc, Yc, Zc, ρ, θ, φ) are found (step 405). The processing unit 212 then changes the higher count rate voxel to a voxel with the input detected count rate N(Xc, Yc, Zc, ρ, θ, φ) (step 406) and corrects the higher count rate The display image at the voxel N(Xc+dx, Yc+dy, Zc+dz) of the rate value (step 407). The algorithm is then repeated for the next probe location (step 408).

Figure 20 shows the graph obtained by applying the averaging algorithm in Figure 19 to the example in Figure 14.

The present invention provides an alternative algorithm for estimating the distribution of radiation sources with a control volume and is described with reference to Figures 27A-27G. In this algorithm, it is assumed that the radiation source includes a strong radiation source that radiates non-uniformly in all directions, and that the radiation source is located and evenly distributed in a finite volume.

Referring now to Figures 27A and 27B, there is shown a radiation sensor 600, preferably generally in the same shape as a tubular collimator. As described above, radiation quanta 602 are recorded by radiation sensor 600, thereby providing an average number of quanta per unit of time. Radiation sensor 600 may be moved around volume of interest 604 . It is assumed that at a given moment the position of the sensor 600 and its orientation (memorizing the position of the volume of study 604) are known (Fig. 27A).

Preferably a disk detector 606 of radiation quanta is provided for the tubular collimator. The quantum detector 606 is preferably placed at the tail end 608 of the tube, and the radiation quanta can reach the detector 606 only through the open front end 610 of the tube (FIG. 27B).

Referring now to FIG. 27C, a coordinate system (x, y, z) is shown with the origin O at the center of the radiation sensor 600, the (x, y) plane being the plane of the detector, and the z axis being the collimator tube center of. The geometry of the collimator - height h and radius ρ - is known.

Due to the rotational symmetry of the tube, it is clear that a radiation source Q = Q(x,y,x) of total intensity I radiates non-uniformly in all directions, using only the distance r from Q to the axis of the collimator (z-axis) and The distance z of Q from the (x,y) plane determines the intensity fraction recorded by the quantum detector 606 of the radiation sensor 600 . In other words, there exists a function φ(r, z) defined only by the collimator parameters ρ and h (the corresponding explicit expressions can be easily written using ρ, h, r, and z) such that the detector The intensity of the radiation point Q=Q(x,y,x)=Q(r,z) recorded at 606 is proportional to φ(r,z) and the total intensity I of the radiation point.

Reference is now made to Figure 27D. According to the previous discussion, if a radiation point is replaced by a certain radiation distribution I(Q)=I(Q(r,z)) in a volume V, the radiation intensity recorded by the radiation sensor 600 is proportional to the following integral (Its constant scaling does not depend on radiation distribution and sensor location): $\underset{V}{\∫}I\left(Q(r,z)\right)\mathrm{\Φ}(r,z)\mathrm{wxya}......\left(1\right)$

The algorithm for estimating the intensity distribution I(Q) from the values obtained by the measurement method of formula (1) is now discussed. For simplicity, the first case of a two-dimensional problem is discussed with reference to Fig. 27E, where the intensity I(Q) is distributed in some two-dimensional plane. As described below, the three-dimensional problem is a direct generalization of the two-dimensional problem.

As seen in Figure 27E, the radiation sources are distributed in a planar rectangular area V. Consider two coordinate systems. The first coordinate system is a sensor coordinate system (x, y, z) for sensor 600 . The second coordinate system is the radiation source coordinate system (u, v, w) corresponding to the radiation source plane (u, v).

It is assumed that the origin position of the (x, y, z) system and the direction of the z-axis unit vector in the (u, v, w) coordinate system are known at each increment of the discrete time. In other words, the position and orientation of the mobile sensor in the (u, v, w) coordinate system is known, and the (u, v, w) coordinate system is assumed to be stationary.

It is considered that the radiation source is distributed according to the distribution function I(Q) in a given bounded rectangle V on the plane (u, v). I(Q)=I(u,v) is unknown, find the radiation (or radiation intensity) distribution function defined in V.

In order to standardize the estimation problem of the radiation distribution function I(Q), it will be considered that the function I(Q) is obtained from a certain finite-dimensional space H of the function defined in V. In other words, instead of estimating the function I(Q) itself, some finite-dimensional approximation of the distribution function I(Q) is estimated.

The simplest finite-dimensional approximation method is to divide the rectangle V into several groups of equivalent rectangular units, and consider that the space H of the step function corresponds to this division (that is, the space function in the divided units is a constant), as shown in Figure 27F shown in .

This step function approximation is sufficient for estimating the radiation distribution I(Q) if the rectangle V is divided into small rectangles with sufficient precision.

Let each side of the rectangle V be divided into n equal parts (FIG. 27F). Then m=n ² is the dimension of the space H of the correspondingly divided step function.

The space H is usually isomorphic to the m-dimensional space of n×n-dimensional matrices (its natural scalar product is <*, *>).

Let I=(I _ij ) _{i, j=1,...,n} be the unknown unit of H that needs to be estimated, assuming that unit I is a K functional {Φ _k } _{k=1.. .k} to measure:

<I, Φ _k >=∑ _{i, j=1...n} I _ij Φ _ij ^(k) (2)

where Φ _k = (Φ _ij ^(k) _{i, j=1,..., n,} k=1,..., K (after the approximation of the function I(Q) using the corresponding step function, Convert integral (1) to sum (2)).

The functional, Φ _k , k=1, . . . , K, corresponds to K discrete positions of the sensor (FIG. 27E). Knowing the explicit expression of the function Φ(r, z) in formula (1), each time k, and the position of the sensor relative to the observation area V, then all matrices Φ _k =(Φ _ij ^(k) ) can be calculated _{i, j=1, . . . , n} , k=1, . . . , K.

From this, the following measurement formula can be obtained:

Ψ _k =<I, Φ _k >+ε _k , k=1, . . . , K (3)

Here, Ψ _k is the measurement result of the unknown unit I of the space H, and ε _k is a random error (ε _k independent random variable, Eε _k = 0, k = 1, . . . , K).

Let M:H->H be an operator in the space H of the form:

M＝∑k _＝1..K Φ _k Φ _k . (4)

Thus, the best unbiased linear estimate of element I is given by $\hat{I}=m^{-1}\mathrm{\&Psi;},......\left(5\right)$

Where M ⁻¹ : H->H is the inverse operator of operator M of formula (4), and:

Ψ=∑ _k=1..K Ψ _k Φ _k , (6)

(where Ψ _k is the measurement result of equation (3)).

A problem with estimation (5) (unless it is a computational problem when the dimension m of the space H is very large) is that the operator M of formula (3): H->H is "irreversible". In other words, the estimation problem is "pathological". This means that there is a noise ε _k in the measurement formula (3), even if the noise is small, it may sometimes lead to a large estimation error distance

This means that estimation problems require additional adjustments. This is a general problem of solving a large system of linear equations. There are several ways to solve such a system of equations. A known method for solving such a system of equations is described below, but a variety of other methods can be used, including the gradient descent method, (http://www-visl.technion.an.il/1999/99- 03/www/) and others known in the art. Furthermore, the reconstruction of the image can be improved by taking into account the correction between substantially overlapping measurements. In the following description, it is assumed that there is a fixed step function for a pixel or a voxel, and other basic principles such as wavelet, Gaussian, etc. may be better suited for some applications.

来替代

可以利用算符M的特征向量分解：To get an estimate of the rule

to replace

The eigenvector decomposition of operator M can be used:

Let  ₁ ,  ₂ , ...,  _m be the eigenvectors of the operator M corresponding to eigenvalues λ ₁ ≥λ ₂ ≥...≥λ _m ≥0: H->H.

Let R be a certain natural number, 1<R<m (R is a "regularization parameter"). Let H ^(R) be a subspace of the space _H generated by using the first R eigenvectors  ₁ ,  ₂ , . . . ,  R.

H ^(R) ＝sp{ _k } _k＝l...R . (7)

Suppose: P ^(R) : H->H ^(R) is an orthogonal projection on the subspace H ^(R) .

The following regularized estimates can be obtained

Let Φ _k ^(R) = P ^(R) Φ _{k, k = 1, . . . , K}

Ψ ^(R) = ∑ _{k = 1...K} Ψ _k Φ _k ^(R) , (8)

M ^(R) : H ^(R) -> H ^(R) is the operator of the following formula

M ^(R) ＝∑ _k＝1...K Φ _k ^(R) Φ _k ^(R) (9)

(operator M ^(R) : is the constraint of the operator M of formula (4) on the subspace H ^(R) of formula (7)),

So, ${\hat{I}}^{\left(R\right)}={\left(m^{\left(R\right)}\right)}^{-1}{\mathrm{\&Psi;}}^{\left(R\right)}......\left(10\right)$

When the regularization parameter R is chosen properly (so as not to make the eigenvalue λ _R too small), then the estimate (10) is stable.

There are several possible ways of choosing the parameter R. One approach is to use R as a "programming parameter" and obtain reasonable values "in experimentation". Another way is to choose some "optimized" value. This approach can be adopted if the covariant operator of the random noise ε _k in equation (3) is known and the information about the unit I of the space H is a priori result.

One drawback of the method of dividing a rectangular domain into many equal rectangles is that the dimension of the space H is too large (especially in the three-dimensional case). If each side of the rectangle V is divided into n equal parts, then the dimension of the space H will be n ² , and the dimension of the matrix for solving the corresponding estimation equation is n ² ×n ² =n ⁴ (in the three-dimensional case Next, n ³ ×n ³ =n ⁶ ). Clearly, for large n, this situation can create serious storage space and computation time problems.

According to a preferred embodiment of the invention, an irregular division of the rectangle V is used. The irregular division method can significantly reduce the dimension of the problem, which is beneficial to computer calculation.

More specifically, the regular division of the region of interest V described above suffers from the drawback of taking into account multiple cells for which there is virtually no signal (Fig. 27F). A better approach would be to use smaller cells only in areas with high signal and larger cells in areas of low signal.

Reference is now made to Figure 27G, which illustrates the advantages of irregular cell partitioning in accordance with a preferred embodiment of the present invention.

In the first stage, regular divisions are made into "large" units, and measurements and estimates are made as described above. In this approach, the intensity distribution is estimated in large cells.

In the second stage, some units with intensities greater than a certain threshold are divided into 4 equal subunits (or 8 subunits in the three-dimensional case). For example, a suitable threshold can be obtained by subtracting two (or three) times the delta (standard deviation) from the mean intensity (of all large cells). These divisions are measured and estimated as described above.

Cell division and subsequent measurements and estimates are continued until the desired accuracy is achieved at some smaller cell division, usually determined by the computational and memory capabilities of the computer used.

The three-dimensional problem can be handled in the same way as the two-dimensional case, with the only difference that a parallelepiped V is used instead of a rectangle V (Fig. 27D). Thus, each divided part is also a parallelepiped.

The algorithm described above can be used in a variety of imaging systems. For example, the algorithm can be used with radiation detector probes, radiation probe detector arrays, large gamma cameras of different designs, such as multi-head cameras, conventional cameras, and automatic white balance (AWB) scanners. The algorithm works for both SPECT and planar imaging and for all types of isotopes with photon energies of any type.

From the foregoing discussion, skilled artisans will appreciate that the above-described algorithm can be used to predict the location of a radiation source and regions of uncertainty (based on systematic measurement errors) in the vicinity of the radiation source. The algorithm also guides the user in making additional measurements to minimize the region of uncertainty as desired by the system operator.

Therefore, the algorithm includes a feedback system that analytically determines the boundaries of regions of uncertainty about the radiation source and directs the medical staff to perform additional scans in these regions of uncertainty to improve accuracy, The boundary of the determined region is minimal.

Continuous sampling with the radiation probe 202 can provide a map of the location of the tumor and the physiological radiation activity of the tumor region. Gain greater security and accuracy with a greater number of scans.

Referring now to FIG. 21, there is shown an image reconstruction system 450 constructed and operative in accordance with a preferred embodiment of the present invention. The image reconstruction system 450 generates a combined image 451, which is a combination of the image in the medical imaging system 208 with the maximum radiation position (and its uncertain region) in the processing unit 212 and the medical instrument 452, such as the biopsy needle position composed of images. This combined image 451 enables the physician to better assess the position of the medical instrument 452 relative to the tissue image (of the medical imaging system 208 ), and the position of the irradiated area inferred by the radiation detection algorithm.

Referring now to FIG. 22, there is shown a flowchart of a radiation pattern reconstruction algorithm in accordance with a preferred embodiment of the present invention.

Deconvolution is commonly used in image processing programs. An example of such a deconvolution method is described in US Patent 6,166,853 to Sapia et al., which is referenced herein. (However, it should be appreciated that these examples and the present invention should not be limited to the deconvolution method described in US Patent 6,166,853.)

During normal image acquisition, light (or other electromagnetic wave energy) passes through a finite slit to the imaging plane. The resulting image is the result of the convolution of the light from the source object and the aperture of the imaging system. Usually the Fourier transform of the gap can be directly used to obtain a system transfer function. As is well known in the art, blurring effects due to convolution exist only in two dimensions, ie on the x-y plane. A Point Spread Function (PSF) is an expression used to describe 2D convolutional blur. PSFs actually arise from imaging by point sources. The Fourier transform of the PSF is the system transfer function obtained by convolution of the system transfer function and the Dirac-delta function. A point source is the physical equivalent of the Dirac-delta function, which is a uniform operator across the frequency spectrum in the frequency domain. Therefore, the Fourier transform of the PSF should be the Fourier transform of the slot. However, PSFs contain noise and blurring caused by effects such as chromatic aberration.

The effect of the PSF on the overall blurring effect can be removed or weakened by deconvolution.

Referring to FIG. 22 , in the case of the present invention, the transfer function of the radiation detector can be determined (step 500 ) by Fourier transforming the detector aperture and taking into account noise and blurring phenomena caused by effects such as chromatic aberration. An example of a transfer function could be a normalized distribution. Using mathematical techniques, the deconvolution of the transfer function can be determined (step 502).

The count readings at each spatial position of the detector constitute the radiation counts and . At least one voxel, preferably at each voxel, a count value is assigned (step 504) based on the deconvolution of the transfer function unique to the detector used. An additional mathematical approach may be used to handle the different values for each voxel from the various readings observed by the different detectors (step 506). For example, this process could constitute a simple algebraic mean, minimum or reciprocal of the mean reciprocal to produce a single reading per voxel. Deconvolution is then used to reconstruct the voxels of the radiation pattern with reduced or no blurring effects (step 508).

The algorithm described here is applicable not only to the analysis of readings obtained with directional ray detectors, but also to spatially pixelated ray detectors. In this case, the readings for each pixel can be processed according to the algorithm used for directional ray detectors. The implicit intent of utilizing spatially sensitive detectors is to save measurement time by receiving readings from multiple parallel directions. In this way, a large number of overlapping low-resolution images are generated, which are then processed to form a high-resolution image. In addition, spatially sensitive detectors can be scanned to further improve resolution using the algorithm described above.

Therefore, the same algorithm that works for directional detectors works equally well for spatially sensitive detectors, but instead of one radiation reading at each location, a large set of discrete locations is processed in parallel. Each pixel can be viewed as a discrete detector with an angle dictated by the geometry of the segmented collimator used. Each pixel occupies a different spatial location, so using the algorithm described here, it can be viewed as a new single-direction probe location. A new set of data points at a new location can also be obtained by scanning a spatially sensitive detector to scan the entire set of pixels as with a directional detector. Once a low resolution image is obtained from each pixel of the spatially sensitive detector, a high resolution algorithm can be used to generate a high resolution image. For example, J. Acoust. Soc. Am., Vol. 77, No. 2, Feb. 1985, pp. 567-572, referenced here; Yokota and Sato, IEEE Trans. Acoust. Speech Signal Process. (April 1984 ); Yokota and Sato, Acoustical Imaging Plenum, New York, 1982, Vol.12; H. Shekarforoush and R. Chellappa, "Data-Driven Multi-channel Super-resolution with Application to Video Sequences", Journal of Optical Society of America-A , vol.6, no.3, pp.481-492, 1999; H. Shekarforoush, J. Zerubia and M. Berthod, "Extension of Phase Correlation to Sub-pixel Registration", IEEE Trans. Image Processing, to appear; P. Cheeseman, B. Kanefsky, R. Kruft, J. Stutz, and R. Hanson, "Super-Resolved Surface Reconstruction From Multiple Images," NASA Technical Report Fia-94-12, December 1994; AMTekalp, MKozkan, and MISezan, "High-Resolution ImageResolution for Lower-Resolution Image Sequences and Space-Varying Image Resolution," IEEE International Conference on Acoustics, Speech, and Signal Processing (San Fransisco, CA), pp.III-169-172, March 23-26 , 1992, a suitable high-resolution algorithm is described in http://www-visl.technion.ac.il/1999/99-03/www/. test results

In a series of clinical trials, some of the basic principles of the present invention were demonstrated on patients who had been pre-injected with the appropriate radiopharmaceutical for their condition. Two-dimensional color-coded maps were constructed from scans of predetermined diseased areas using a hand-held detector with a magnetic position tracking system. The resulting graph showing radiation count levels was compared to conventional gamma camera images. The detected radioactive agents include ¹⁸ FDG, ^99M Tc-MDP, ^99M TC sodium pertechnetate, ^99M Tc erthrocytes. Similar radiolabeled patterns were observed in the images produced by the system of the present invention and those produced by conventional gamma cameras in the following pathologies.

Figures 23A and 24B show radiolabeled patterns of a 58-year-old man's autonomic thyroid tumor observed from images produced by the system of the present invention and images produced by a conventional gamma camera, respectively.

Figures 24A and 24B show suspected osteitis deformans-like radiolabeled patterns in an 89-year-old woman observed from images produced by the system of the present invention and images produced by a conventional gamma camera, respectively.

Figures 25A and 25B show radiolabeled patterns of chronic osteomyelitis in a 19-year-old woman observed from images produced by the system of the present invention and images produced by a conventional gamma camera, respectively.

Figures 26A and 26B show radiolabeled patterns of a skeletal metastatic lesion of medulloblastoma in an 18-year-old man observed in images produced by the system of the present invention and by a conventional gamma camera, respectively.

A list of existing therapies that may take advantage of the systems and methods of the present invention is provided below:

In cancer diagnosis, the systems and methods of the present invention can be used to image cancer and/or guide invasive diagnosis (biopsy) from outside the body or by endoscopy. Examples include, but are not limited to, lung cancer biopsy, breast cancer biopsy, prostate biopsy, cervical cancer biopsy, lymphatic cancer biopsy, thyroid cancer biopsy, brain cancer biopsy, bone Cancer biopsy, Colon cancer biopsy, Gastrointestinal cancer endoscopy and biopsy, Vaginal cancer endoscopy, Prostate cancer endoscopy shot (through the rectum), Ovarian cancer endoscopy Examination and photography (through the vagina), endoscopy and photography for cervical cancer (through the vagina), endoscopy and photography for bladder cancer (through the urethra), endoscopy and photography for gallbladder cancer (through the stomach), and lung cancer Filming, breast cancer filming, melanoma filming, brain cancer filming, lymphatic cancer filming, kidney cancer filming, gastrointestinal cancer filming (from outside).

In certain MRI situations, a radiation detector may be combined or packaged with a small RF coil for both transmit and receive or receive only tract, etc.) MRI signals of rectal probes for diagnosis and treatment.

The systems and methods of the present invention also facilitate targeted targeted therapy of cancer. Examples include, but are not limited to, cancers of the lung, breast, prostate, uterus, liver, lymph, thyroid, brain, bone, colon (through rectal endoscopy), stomach (thorax endoscopy), cancer of the thoracic cavity, cancer of the small intestine (through endoscopy of the rectum or thoracic cavity), internal tumor chemotherapy in the case of cancer of the bladder, kidney, vagina and ovary, internal tumor Brachytherapy, internal tumor cryoablation, internal tumor radiofrequency ablation, internal tumor ultrasonic ablation, internal tumor laser ablation.

In cardiology, the present invention facilitates treatments in which the methods and systems can be used to assess tissue perfusion, tissue viability, and internal blood flow (with balloon only or in combination with stretch orientation) during PTCA, in cardiogenic Assessment of cardiac damage in the setting of shock, assessment of cardiac injury after myocardial infarction, assessment of tissue in terms of tissue viability and tissue perfusion in the assessment of heart failure conditions, assessment of internal vascular viability and perfusion prior to CABG surgery.

Radiation detectors may be installed in a catheter that is passed through a blood vessel into the heart to estimate ischemia within the heart in order to guide the positioning of an ablation probe or other type of therapy at the appropriate location within the heart. Another application in which the invention can be used is in locating blood clots. For example, the radiation detectors described above can be used to assess or differentiate new blood clots from old blood clots. Thus, for example, a radiation detector can be placed on a very small caliber wire, such as is used in PTCA, to allow imaging of an internal blood clot. Internal blood clots in the aortic arch can be searched for, since about 75% of strokes are caused by blood clots therein.

Tissue perfusion, tissue viability, and internal blood flow can also be assessed using the methods and systems of the present invention during: CABG procedures to assess tissue viability, flagging infarcts; CABG procedures to assess successful revascularization.

There are many other applications of the present invention in therapeutics, such as, but not limited to, injecting brachytherapy seeds, ultrasonic radiofrequency cryotherapy, and localized radioablation.

It should be appreciated that the present invention can also be used in many other therapeutic procedures.

Where, for clarity, certain features of the invention are described in separate embodiments, combinations of such features may also be employed in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be utilized separately or in any suitable subcombination.

While the invention has been described in conjunction with particular embodiments thereof, it will be apparent that modifications and alterations of the invention will occur to those skilled in the art. Accordingly, the present invention embraces all modifications and changes falling within the spirit and scope of the appended claims. This specification as a whole refers to all publications, patents, and patent applications, whether in print or electronic form, mentioned in this specification as if each individual publication, patent, or patent application was specifically and independently cited. In addition, citation or identification of any reference in this patent application shall not be construed as an admission that such reference is available as prior art to the present invention.

Claims (254)

1. A system for calculating the position of a source of radioactive radiation in a coordinate system comprising: a) a radioactive radiation detector; b) a location tracking system connected to and/or in communication with the radioactive radiation detector; and c) a data processor designed and configured to receive data input from the position tracking system and radioactive radiation detectors and to calculate the position of a radioactive radiation source in a coordinate system. 2. The system according to claim 1, wherein the source of radioactive radiation is selected from a group consisting of radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled components associated with inflammation, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 3. The system according to claim 1 , wherein the radioactive radiation detector is selected from a radioactive radiation detector comprising a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 4. The system according to claim 1, wherein the position tracking system is from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 5. A method for determining the position of a source of radioactive radiation in a coordinate system, the method comprising the steps of: a) provide a radioactive radiation detector connected to or in communication with a position tracker; and b) monitoring the radiation emitted from the radioactive radiation source, and at the same time, monitoring the position of the radioactive radiation detector in the coordinate system, thereby determining the position of the radioactive radiation source in the coordinate system. 6. The method according to claim 5, wherein the source of radioactive radiation is selected from radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled components associated with inflammation, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 7. The method according to claim 5, wherein the radioactive radiation detector is obtained from a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 8. The method according to claim 5, wherein the position tracking system is from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, an Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 9. A system for calculating the position of a source of radioactive radiation in a first coordinate system and further projecting that position onto a second coordinate system, comprising: (a) a radioactive radiation detector; a) a location tracking system connected to and/or in communication with the radioactive radiation detector; and b) a data processor, designed and configured to i. receiving data input from the location tracking system and radioactive radiation detectors; ii. Calculating the position of the source of radioactive radiation in the first coordinate system; and iii. Projecting the location of the radioactive radiation source onto a second coordinate system. 10. The system according to claim 9, wherein the source of radioactive radiation is selected from radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled inflammation-related components, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 11. The system according to claim 9, wherein the radioactive radiation detector is selected from a radioactive radiation detector comprising a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 12. The system according to claim 9, wherein the position tracking system is from an articulated arm position tracking system, an accelerometer based position tracking system, a potentiometer based position tracking system, an acoustic wave based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 13. A method for calculating the position of a source of radioactive radiation in a first coordinate system and further projecting the position onto a second coordinate system, the system comprising: a) provide a radioactive radiation detector connected to or in communication with a location tracking system; and b) Monitor the radiation emitted from the radioactive radiation source, and at the same time, monitor the position of the radioactive radiation detector in the first coordinate system, thereby determine the position of the radioactive radiation source in the first coordinate system, and project the position to on the second coordinate system. 14. The method according to claim 13, wherein the source of radioactive radiation is selected from radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled components associated with inflammation, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 15. The method according to claim 13, wherein the radioactive radiation detector is obtained from a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 16. The method according to claim 13, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, an Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 17. A system for calculating the location of a patient's body organ and the location of a radiopharmaceutical uptake portion of the body organ, the system comprising: a) a three-dimensional imaging medical instrument connected to and/or in communication with a first position tracking system for calculating the position of the body organ in the first coordinate system; b) a radioactive radiation detector connected to and/or in communication with the second location system for tracking the location of the radiopharmaceutical uptake portion of the body organ in the second coordinate system; and c) at least one data processor designed and configured to receive data input from the above-mentioned three-dimensional imaging instrument, the first position tracking system, the radioactive radiation detector and the second position tracking system, and calculate the body organ and the body organ The location of the uptake portion of the radiopharmaceutical in a common coordinate system. 18. The system according to claim 17, wherein the first coordinate system is used as a common coordinate system, whereby the position of the radiopharmaceutical uptake part of the body organ in the second coordinate system is projected onto the first coordinate system. 19. The system according to claim 17, wherein the second coordinate system is used as a common coordinate system, whereby the positions of body organs in the first coordinate system are projected onto the second coordinate system. 20. The system according to claim 17, wherein the first coordinate system, the second coordinate system and the common coordinate system are a single coordinate system. 21. The system according to claim 17, wherein each of the first coordinate system, the second coordinate system and the common coordinate system is an independent coordinate system, whereby the position of the radiopharmaceutical uptake part of the body organ in the first coordinate system and The positions of the radiopharmaceutical uptake parts of the body organs in the second coordinate system are all projected onto the common coordinate system. 22. The system according to claim 17, wherein the first location tracking system and the second location tracking system are a single location tracking system. 23. The system according to claim 17, wherein the imaging device communicates with an image display device serving as a visual co-representation of the body organ and the radiopharmaceutical uptake portion of the body organ. 24. The system according to claim 17, wherein the radioactive radiation detector is a small-angle radioactive radiation detector, a wide-angle radioactive radiation detector, a plurality of individual small-angle radioactive radiation detectors, and a spatially sensitive radioactive detector selected in . 25. The system according to claim 17, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer based position tracking system, a potentiometer based position tracking system, an acoustic wave based position tracking system, a A radio frequency position tracking system, a magnetic field based position tracking system and an optical based position tracking system are selected. 26. The system according to claim 17, wherein the imaging instrument is selected from the group consisting of a fluoroscopy, a computerized tomography device, a magnetic resonance imaging device, an ultrasound imager, and an optical camera. 27. The system according to claim 17, wherein the radiopharmaceutical is selected from the group consisting of ¹³¹ I, ⁶⁷ Ga, ^99M Tc methoxy-containing isobutyl isonitrile, ²⁰¹ TICI, ¹⁸ F-fluorodeoxyglucose, ¹²⁵ I-fibrinogen and ¹¹¹ In-octreotide selected. 28. A method for calculating the location of a body organ of a patient and the location of a radiopharmaceutical uptake portion of the body organ, the method comprising the steps of: a) providing a three-dimensional imaging medical instrument connected to and/or in communication with a first position tracking system for calculating the position of a body organ in a first coordinate system; b) providing a radioactive radiation detector coupled to and/or in communication with a second position tracking system for tracking the position of the radiopharmaceutical uptake portion of the body organ in the second coordinate system; and c) receiving data input from said three-dimensional imaging instrument, first position tracking system, radioactive radiation detector and second position tracking system, and calculating the position of the body organ and the radiopharmaceutical uptake portion of the body organ in a common coordinate system. 29. A method according to claim 28, wherein the first coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake part of the body organ in the second coordinate system is projected onto the first coordinate system. 30. A method according to claim 28, wherein the second coordinate system is used as a common coordinate system, whereby the positions of body organs in the first coordinate system are projected onto the second coordinate system. 31. The system according to claim 28, wherein the first coordinate system, the second coordinate system and the common coordinate system are a single coordinate system. 32. The method according to claim 28, wherein each of the first coordinate system, the second coordinate system and the common coordinate system is an independent coordinate system, so that the position of the body organ in the first coordinate system and the radiopharmaceutical of the body organ The positions of the captured parts in the second coordinate system are projected onto the common coordinate system. 33. The method according to claim 28, wherein the first location tracking system and the second location tracking system are a single location tracking system. 34. A method according to claim 28, wherein the imaging device communicates with an image display device serving as a visual co-representation of the body organ and the radiopharmaceutical uptake portion of the body organ. 35. The method according to claim 28, wherein the radioactive radiation detector is obtained from a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 36. The method according to claim 28, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, an Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 37. The method according to claim 28, wherein the imaging instrument is selected from the group consisting of a fluoroscopy, a computerized tomography device, a magnetic resonance imaging device, an ultrasound imager and an optical camera. 38. The method according to claim 28, wherein the radiopharmaceutical is selected from ¹³¹ I, ⁶⁷ Ga, ^99M Tc methoxy-containing isobutyl isonitrile, ²⁰¹ TICI, ¹⁸ F-fluorodeoxyglucose, ¹²⁵ I-fibrinogen and ¹¹¹ In-octreotide selected. 39. A system for performing an internal surgical procedure on a radiopharmaceutical uptake portion of a body organ of a patient, the system comprising: a) A radioactive radiation detector coupled to and in communication with the first position tracking system for tracking the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system. b) A surgical instrument connected to and in communication with a second position tracking system for tracking the position of the surgical instrument in the second coordinate system. c) at least one data processor designed and configured to receive data input from the above-mentioned first position tracking system, radioactive radiation detector and second position tracking system and calculate radiopharmaceutical uptake by surgical instruments and body organs The position of the part in a common coordinate system. 40. The system according to claim 39, wherein the surgical instrument includes an additional radioactive radiation detector, and said at least one data processor is further designed and configured to receive data input from the additional radioactive radiation detector, More precisely determine the position of radiopharmaceutical uptake parts of body organs in a common coordinate system. 41. The system according to claim 39, wherein the second coordinate system is used as a common coordinate system whereby the position of the surgical instrument in the first coordinate system is projected onto the second coordinate system. 42. A method according to claim 39, wherein the first coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake portion of the body organ in the second coordinate system is projected onto the first coordinate system. 43. The system according to claim 39, wherein the first coordinate system, the second coordinate system and the common coordinate system are a single coordinate system. 44. The system according to claim 39, wherein each of the second coordinate system, the first coordinate system, and the common coordinate system is an independent coordinate system, so that the position of the surgical instrument in the second coordinate system and the radioactivity of the body organ The positions of the drug uptake parts in the first coordinate system are all projected onto the common coordinate system. 45. The system according to claim 39, wherein the first location tracking system and the second location tracking system are a single location tracking system. 46. The system according to claim 39, further comprising an image display device for cooperatively representing the location of the surgical instrument and the radiopharmaceutical uptake portion of the body organ. 47. The system according to claim 39, wherein the radioactive radiation detector is a radioactive radiation detector comprising a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 48. The system according to claim 39, wherein the position tracking system is from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 49. The system according to claim 39, wherein the surgical instrument is obtained from a laser probe, a cardiac catheter, a plastic cardiovascular catheter, an endoscopic probe, a biopsy needle, an ultrasonic probe, a fiber optic microscope, a suction tube , laparoscopy probe, thermometry probe, and aspiration/irrigation probe. For open surgery, an additional indicating device is required. 50. The method according to claim 39, wherein the radiopharmaceutical is selected from the group consisting of ¹³¹ I, ⁶⁷ Ga, ^99M Tc methoxy-containing isobutyl isonitrile, ²⁰¹ TICI, ¹⁸ F-fluorodeoxyglucose, ¹²⁵ I-fibrinogen and ¹¹¹ In-octreotide selected. 51. The method according to claim 39, further comprising a three-dimensional imaging instrument connected to and/or in communication with the third position tracking system for calculating the position of a body organ in the third coordinate system. 52. The method according to claim 51, wherein the data processor is further designed and configured to receive data input from said three-dimensional imaging instrument and a third position tracking system to calculate radiopharmaceutical uptake fractions of said surgical instruments and body organs and The position of body organs in a common coordinate system. 53. A system according to claim 52, wherein the second coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake part of the body organ in the first coordinate system and the position of the body organ in the third coordinate system are projected onto this second coordinate system. 54. The system according to claim 52, wherein the first coordinate system is used as a common coordinate system, whereby the positions of surgical instruments in the second coordinate system and the positions of body organs in the third coordinate system are projected onto the first coordinate system. on the coordinate system. 55. The system according to claim 52, wherein the third coordinate system is used as a common coordinate system, and the position of the surgical instrument in the second coordinate system and the position of the radiopharmaceutical uptake part of the body organ in the first coordinate system are projected onto this third coordinate system. 56. The system according to claim 52, wherein the first coordinate system, the second coordinate system, the third coordinate system and the common coordinate system are a single coordinate system. 57. The system according to claim 52, wherein each of the second coordinate system, the first coordinate system, the third coordinate system, and the common coordinate system are independent coordinate systems, so that the position of the surgical instrument in the second coordinate system The position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system and the position of the body organ in the third coordinate system are projected onto the common coordinate system. 58. The system according to claim 51, wherein the first position tracking system, the second position tracking system and the third position tracking system are a single position tracking system. 59. The system according to claim 51, further comprising an image display device for cooperatively representing the surgical instrument and the radiopharmaceutical uptake portion of the body organ and the location of the body organ. 60. The system according to claim 51, wherein the imaging instrument is selected from the group consisting of a fluoroscopy, a computerized tomography device, a magnetic resonance imaging device, an ultrasound imager, and an optical camera. 61. The system according to claim 51, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer based position tracking system, a potentiometer based position tracking system, an acoustic wave based position tracking system, a A radio frequency position tracking system, a magnetic field based position tracking system and an optical based position tracking system are selected. 62. A method for performing an in vivo surgical procedure on a radiopharmaceutical uptake portion of a body organ of a patient, the method comprising the steps of: a) providing a radioactive radiation detector coupled to and in communication with a first position tracking system for tracking the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system. b) providing a surgical instrument connected to and in communication with a second position tracking system for tracking the position of the surgical instrument in the second coordinate system during intracorporeal surgery. c) receiving data input from the above-mentioned first position tracking system, radioactive radiation detector, and second position tracking system and calculating the surgical instrument, body organ, and radiopharmaceutical uptake portion of the body organ in a A position in a common coordinate system. 63. The method according to claim 62, wherein the surgical instrument includes an additional radioactive radiation detector, and said at least one data processor is further designed and configured to receive data input from the additional radioactive radiation detector, More precisely determine the position of radiopharmaceutical uptake parts of body organs in a common coordinate system. 64. A method according to claim 62, wherein the second coordinate system is used as a common coordinate system, whereby the position of the radiopharmaceutical uptake part of the body organ in the first coordinate system is projected onto the second coordinate system. 65. The method according to claim 62, wherein the first coordinate system is used as a common coordinate system whereby the position of the surgical instrument in the second coordinate system is projected onto the first coordinate system. 66. The method according to claim 62, wherein the first coordinate system, the second coordinate system and the common coordinate system are a single coordinate system. 67. The method according to claim 62, wherein each of the first coordinate system, the second coordinate system, and the common coordinate system is an independent coordinate system, so that the position of the surgical instrument in the second coordinate system and the radioactivity of the body organ The positions of the drug uptake parts in the first coordinate system are all projected onto the common coordinate system. 68. The method according to claim 62, wherein the first location tracking system and the second location tracking system are a single location tracking system. 69. The method according to claim 62, further comprising an image display device for cooperatively representing the location of the surgical instrument and body organ and the location of the radiopharmaceutical uptake portion of the body organ. 70. The method according to claim 62, wherein the radioactive radiation detector is obtained from a small angle radioactive radiation detector, a wide angle radioactive radiation detector, a plurality of individual small angle radioactive radiation detectors and a spatially sensitive radioactive radiation detector selected in the device. 71. The method according to claim 62, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, an Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 72. The method according to claim 62, wherein the surgical instrument is obtained from a laser probe, a cardiac catheter, a plastic cardiovascular catheter, an endoscopic probe, a biopsy needle, an ultrasonic probe, a fiber optic microscope, a suction tube , laparoscopy probe, thermometry probe, and aspiration/irrigation probe. 73. The method according to claim 62, wherein the radiopharmaceutical is selected from the group consisting of ¹³¹ I, ⁶⁷ Ga, ^99M Tc methoxy-containing isobutyl isonitrile, ²⁰¹ TICI, ¹⁸ F-fluorodeoxyglucose, ¹²⁵ I-fibrinogen and ¹¹¹ In-octreotide selected. 74. The method according to claim 62, further comprising the step of providing a three-dimensional imaging apparatus connected to and/or in communication with a third position tracking system for calculating the position of a body organ in a third coordinate system s position. 75. The method according to claim 74, further comprising receiving data input from said three-dimensional imaging instrument and a third position tracking system to calculate the position of said surgical instrument and the radiopharmaceutical uptake portion of the body organ and the body organ in a common coordinate system A step of. 76. The method according to claim 74, wherein the first position tracking system, the second position tracking system and the third position tracking system are a single position tracking system. 77. The method according to claim 74, further comprising the step of cooperatively indicating by a visual device the location of the surgical instrument and the body organ and the location of the radiopharmaceutical uptake portion of the body organ. 78. The method according to claim 74, wherein the imaging instrument is selected from the group consisting of a fluoroscopy, a computerized tomography device, a magnetic resonance imaging device, an ultrasound imager and an optical camera. 79. The method according to claim 74, wherein the position tracking system is from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, an Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 80. A method according to claim 75, wherein the second coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system and the position of the body organ in the third coordinate system are projected onto this second coordinate system. 81. The method according to claim 75, wherein the first coordinate system is used as a common coordinate system whereby the positions of surgical instruments in the second coordinate system and the positions of body organs in the third coordinate system are projected onto the first coordinate system. on the coordinate system. 82. The method according to claim 75, wherein the third coordinate system is used as a common coordinate system, and the position of the surgical instrument in the second coordinate system and the position of the radiopharmaceutical uptake part of the body organ in the first coordinate system are projected onto this third coordinate system. 83. The method according to claim 75, wherein the first coordinate system, the second coordinate system, the third coordinate system and the common coordinate system are a single coordinate system. 84. The method according to claim 75, wherein each of the first coordinate system, the second coordinate system, the third coordinate system, and the common coordinate system are independent coordinate systems, so that the position of the surgical instrument in the second coordinate system The position of the radiopharmaceutical uptake portion of the body organ in the first coordinate system and the position of the body organ in the third coordinate system are projected onto the common coordinate system. 85. A system for producing two-dimensional or three-dimensional images of a source of radioactive radiation in the human body, the system comprising: a) a radioactive radiation detector; b) a location tracking system connected to and/or in communication with the radioactive radiation detector; and c) a data processor designed and configured to receive data input from the position tracking system and the radioactive radiation detector to generate a two-dimensional or three-dimensional image of the radioactive radiation detector. 86. A method, system for producing a two-dimensional or three-dimensional image of a radioactive radiation source of a human body, the method comprising: a) scanning the human body with a radioactive radiation detector; b) using a position tracking system coupled to and/or in communication with the radioactive radiation detector to determine the position of the radioactive radiation detector in a three-dimensional coordinate system; and c) processing input from the position tracking system and radioactive radiation detector data to generate a two-dimensional or three-dimensional image of the radioactive radiation source. 87. A system for calculating the position of a source of radioactive radiation in a coordinate system comprising: a) at least two radioactive radiation detectors; b) a position tracking system connected to and/or in communication with the radioactive radiation detector, and c) a data processor designed and configured to receive data input from the position tracking system and the at least two radioactive radiation detectors to calculate the position of the radioactive radiation source in a coordinate system. 88. The system according to claim 87, wherein said at least two radioactive radiation detectors are physically interconnected by a flexible connector. 89. A method for determining the position of a source of radioactive radiation in a coordinate system, the method comprising the steps of: a) provide at least one radioactive radiation detector connected to and/or in communication with a position tracking system; and b) monitoring the radioactivity emitted from the radioactive radiation source and at the same time monitoring the position of the at least one radioactive radiation detector in the coordinate system, thereby determining the position of the radioactive radiation source in the coordinate system. 90. A method according to claim 89, wherein said at least two radioactive radiation detectors are provided. 91. The method according to claim 89, wherein said at least two radioactive radiation detectors are physically interconnected by a flexible connector. 92. A system for calculating the position of a source of radioactive radiation in a first coordinate system and further projecting the position onto a second coordinate system, the system comprising: a) at least two radioactive radiation detectors; b) a position tracking system connected to and/or in communication with at least two radioactive radiation detectors as described above, and c) a data processor, designed and configured to i. receiving data input from the position tracking system and at least two radioactive radiation detectors as described above; ii. calculating the position of the source of radioactive radiation in the first coordinate system, and iii. Projecting the position of the radioactive radiation source onto a second coordinate system. 93. The system according to claim 92, wherein said at least two radioactive radiation detectors are physically interconnected by a flexible connector. 94. A method for calculating the position of a source of radioactive radiation in a first coordinate system and projecting the position onto a second coordinate system, the method comprising the steps of: a) provide at least one radioactive radiation detector connected to and/or in communication with a position tracking system; and b) monitoring the radiation emitted from the radioactive radiation source, and at the same time, monitoring the position of the at least one radioactive radiation detector in the first coordinate system, thereby determining the position of the radioactive radiation source in the first coordinate system, and placing the The positions are projected onto a second coordinate system. 95. A system for performing an in vivo surgical procedure on a radiopharmaceutical uptake portion of a body organ of a patient, the system comprising a surgical instrument connected to and in communication with a position tracking system for tracking the surgical instrument's position in A position in a coordinate system to which the surgical instrument includes a radioactive radiation detector associated therewith for in situ monitoring of the radiopharmaceutical. 96. The system according to claim 95, wherein the radioactive radiation detector is sensitive to beta rays and positron rays. 97. The system according to claim 95, wherein the surgical instrument comprises a tissue resection device. 98. The system according to claim 95, wherein the surgical instrument comprises a tissue sampling device. 99. The system according to claim 95, wherein the tissue sampling device comprises a suction device. 100. A system for calculating the position of a source of radioactive radiation in a coordinate system comprising a) a surgical instrument, designed and constructed for entry into the body of a patient, which surgical instrument includes a radioactive radiation detector associated therewith or integrated therein; b) a position tracking system connected to and in communication with the surgical instrument; and c) a data processor designed and configured to receive data input from the aforementioned position tracking system and radioactive radiation detector and to calculate the position of the radioactive radiation source in the coordinate system. 101. The system according to claim 100, wherein the source of radioactive radiation is selected from radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled inflammation-related components, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 102. The system according to claim 100, wherein the radioactive radiation detector is a low angle radioactive radiation detector or a wide angle radioactive radiation detector. 103. The system according to claim 100, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 104. A system for calculating the position of a source of radioactive radiation in a first coordinate system and further projecting the position onto a second coordinate system, the system comprising: a) a surgical instrument, designed and constructed for entry into the body of a patient, which surgical instrument includes a radioactive radiation detector attached thereto or integrated therein; b) a position tracking system connected to and/or in communication with said surgical instrument; and c) a data processor, designed and configured to i. receiving data input from the location tracking system and radioactive radiation detectors; ii. Calculating the position of the source of radioactive radiation in the first coordinate system; iii. calculating the position of the surgical instrument in the first coordinate system; and iv. Projecting the position of the radioactive radiation source and the surgical instrument onto a second coordinate system. 105. The system according to claim 104, wherein the source of radioactive radiation is selected from radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled components associated with inflammation, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 106. The system according to claim 104, wherein the radioactive radiation detector is a low angle radioactive radiation detector or a wide angle radioactive radiation detector. 107. The system according to claim 104, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 108. A method for calculating the position of a source of radioactive radiation in a first coordinate system and projecting the position onto a second coordinate system, the method comprising the steps of: a) providing a surgical instrument designed and constructed for entry into the body of a patient, the surgical instrument including a radioactive radiation detector associated therewith or integrated therein, the surgical instrument associated with and/or with a position tracking system correspondence; and b) monitoring the radiation emitted from the radioactive radiation source, and at the same time, monitoring the position of the radioactive radiation detector in the first coordinate system, thereby determining the position of the radioactive radiation source and the surgical instrument in the first coordinate system, and The position of the radioactive radiation source is projected onto a second coordinate system. 109. The system according to claim 108, wherein the source of radioactive radiation is selected from radiopharmaceutical-labeled benign tumors, radiopharmaceutical-labeled malignant tumors, radiopharmaceutical-labeled blood vessel clots, radiopharmaceutical-labeled inflammation-related components, radiopharmaceutical-labeled Abscesses and radiopharmaceutical-labeled vascular abnormalities were selected. 110. The system according to claim 108, wherein the radioactive radiation detector is a low angle radioactive radiation detector or a wide angle radioactive radiation detector. 111. The system according to claim 108, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 112. A system for calculating the location of a patient's body organ and the location of a radiopharmaceutical uptake portion of the body organ, the system comprising: a) a three-dimensional imaging medical instrument connected to and/or in communication with a first position tracking system for calculating the position of the body organ in the first coordinate system; b) Design and construction of a housing surgical instrument for entry into the body of a patient, said housing surgical instrument including a radioactive radiation detector attached thereto or integrated therein, for tracking radiopharmaceutical uptake by body organs the position of the part in the second coordinate system; and c) at least one data processor designed and configured to receive data input from the above-mentioned three-dimensional imaging instrument, the first position tracking system, the radioactive radiation detector and the second position tracking system, and calculate the body organ and the body organ The position of radiopharmaceutical uptake parts and surgical instruments in a common coordinate system. 113. The system according to claim 112, wherein the first coordinate system is used as a common coordinate system whereby the position of the radiopharmaceutical uptake portion of the body organ in the second coordinate system is projected onto the first coordinate system. 114. The system according to claim 112, wherein the second coordinate system is used as a common coordinate system whereby the positions of body organs and surgical instruments in the first coordinate system are projected onto the second coordinate system. 115. The system according to claim 112, wherein the first coordinate system, the second coordinate system and the common coordinate system are a single coordinate system. 116. The system according to claim 112, wherein each of the first coordinate system, the second coordinate system, and the common coordinate system is an independent coordinate system, so that the position of the body organ in the first coordinate system and the radioactivity of the body organ The positions of the drug uptake portion and the surgical instrument in the second coordinate system are both projected onto the common coordinate system. 117. The system according to claim 112, wherein the first location tracking system and the second location tracking system are a single location tracking system. 118. A system according to claim 112, wherein the imaging device communicates with an image display device serving as a visual co-representation of the body organ and the radiopharmaceutical uptake portion of the body organ. 119. The system according to claim 112, wherein the radioactive radiation detector is a low angle radioactive radiation detector or a wide angle radioactive radiation detector. 120. The system according to claim 112, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, a Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 121. The system according to claim 112, wherein the imaging instrument is selected from the group consisting of a fluoroscopy, a computerized tomography device, a magnetic resonance imaging device, an ultrasound imager, and an optical camera. 122. The system according to claim 112, wherein the radiopharmaceutical is obtained from a compound comprising 2-[ ¹⁸ F]fluoro-2-deoxy-D-glucose, ¹¹¹ In-Pentetreotide, L-3-[ ¹²³ I]-Iodo-alpha-methanol selected from ¹¹¹ In-Capromab Pendetide ^{and 111} In-Satumomab Pendetide. 123. A method for calculating the location of a body organ in a patient and the location of a radiopharmaceutical uptake portion of the body organ in the patient, the method comprising the steps of: a) providing a three-dimensional imaging medical instrument connected to and/or in communication with a first position tracking system for calculating the position of the body organ in the first coordinate system; b) providing a surgical instrument designed and constructed for entry into the body of a patient, the surgical instrument including a radioactive radiation detector associated therewith or integrated therein, the surgical instrument associated with a second position tracking system and/or communicate therewith to track the position of the radiopharmaceutical uptake portion of the body organ in the second coordinate system; and c) receiving data input from the aforementioned three-dimensional imaging instrument, first position tracking system, radioactive radiation detector, and second position tracking system, and calculating body organs, surgical instruments, and radiopharmaceutical uptake portions of body organs in a common coordinate system position in . 124. A method according to claim 123, wherein the first coordinate system is used as a common coordinate system whereby the positions of radiopharmaceutical uptake parts of body organs and surgical instruments in the second coordinate system are projected onto the first coordinate system . 125. A method according to claim 123, wherein the second coordinate system is used as a common coordinate system, whereby the positions of the body organs in the first coordinate system are projected onto the second coordinate system. 126. The method according to claim 123, wherein the first coordinate system, the second coordinate system and the common coordinate system are a single coordinate system. 127. The method according to claim 113, wherein each of the first coordinate system, the second coordinate system, and the common coordinate system is an independent coordinate system, so that the position of the body organ in the first coordinate system and the radiopharmaceutical of the body organ The positions of the captured parts in the second coordinate system are all projected onto the common coordinate system. 128. A method according to claim 113, wherein the first location tracking system and the second location tracking system are a single location tracking system. 129. A method according to claim 113, wherein the imaging device communicates with an image display device serving as a visual co-representation of the body organ, the radiopharmaceutical uptake portion of the body organ, and the surgical instrument. 130. The method according to claim 113, wherein the radioactive radiation detector is a low angle radioactive radiation detector or a wide angle radioactive radiation detector. 131. The method according to claim 113, wherein the position tracking system is derived from an articulated arm position tracking system, an accelerometer-based position tracking system, a potentiometer-based position tracking system, an acoustic wave-based position tracking system, an Choose from a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system. 132. The method according to claim 113, wherein the imaging instrument is selected from the group consisting of a fluoroscopy, a computerized tomography device, a magnetic resonance imaging device, an ultrasound imager, and an optical camera. 133. The method according to claim 113, wherein the radiopharmaceutical is obtained from a compound comprising 2-[ ¹⁸ F]fluoro-2-deoxy-D-glucose, ¹¹¹ In-Pentetreotide, L-3-[ ¹²³ I]-Iodo-alpha-formazan selected from 111 In-Capromab Pendetide, ¹¹¹ In-Satumomab Pendetide and ¹¹¹ In ^- Satumomab Pendetide. 134. The system according to claim 1, wherein the data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form the radiotracer distribution of the target area including the radioactive radiation source image. 135. The system according to claim 134, further comprising a memory adapted to store the location information and the count rate. 136. The system according to claim 134, further comprising a display adapted to display said position information and count rate as a graphic corresponding to the indicia of the position information and count rate. 137. A system according to claim 134, wherein the data processor is adapted to process said count rate and position information. 138. The system according to claim 137, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 139. The system according to claim 137, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zx, ρ, θ, φ), the detector count rate is defined as N(Xx, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Zc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 140. A system according to claim 9, wherein the data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form the radiotracer distribution of the target area including the radioactive radiation source image. 141. The system according to claim 140, further comprising a memory adapted to store the location information and the count rate. 142. The system according to claim 140, further comprising a display adapted to display said position information and count rate as a graphic corresponding to the indicia of the position information and count rate. 143. A system according to claim 140, wherein the data processor is adapted to process said count rate and position information. 144. The system according to claim 143, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 145. The system according to claim 143, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 146. The system according to claim 17, wherein at least one data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form a radiological trace of the target area including the radioactive radiation source distribution image. 147. The system according to claim 146, further comprising a memory adapted to store the location information and the count rate. 148. The system according to claim 146, further comprising a display adapted to display said location information and count rate as a graphic of indicia corresponding to the location information and count rate. 149. The system according to claim 146, wherein said at least one data processor is adapted to improve said count rate and position information. 150. The system according to claim 149, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yx+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xx+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 151. The system according to claim 149, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 152. The system according to claim 39, wherein said at least one data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form a radiological map of the target area including the radioactive radiation source. Trace distribution image. 153. The system according to claim 152, further comprising a memory adapted to store the location information and the count rate. 154. The system according to claim 152, further comprising a display adapted to display said position information and count rate as a graphic corresponding to the indicia of the position information and count rate. 155. A system according to claim 152, wherein the data processor is adapted to process said count rate and position information. 156. The system according to claim 155, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 157. The system according to claim 155, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 158. A system according to claim 85, wherein the data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form the radiotracer distribution of the target area including the radioactive radiation source image. 159. The system according to claim 158, further comprising a memory adapted to store the location information and the count rate. 160. The system according to claim 158, further comprising a display adapted to display said location information and count rate as a graphic corresponding to the indicia of the location information and count rate. 161. A system according to claim 158, wherein the data processor is adapted to process said count rate and position information. 162. The system according to claim 161, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 163. The system according to claim 161, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 164. A system according to claim 87, wherein the data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form the radiotracer distribution of the target area including the radioactive radiation source image. 165. The system according to claim 164, further comprising a memory adapted to store the location information and the count rate. 166. The system according to claim 164, further comprising a display adapted to display said position information and count rate as a graphic corresponding to the indicia of the position information and count rate. 167. The system according to claim 164, wherein said at least one data processor is adapted to improve said count rate and position information. 168. The system according to claim 167, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 169. The system according to claim 167, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 170. The system according to claim 92, wherein the data processor is adapted to combine the radiation detector count rates of said at least two radioactive radiation detectors with the position information of the position tracking system and is adapted to form a target comprising a radioactive radiation source therein An image of the radiotracer distribution in the area. 171. The system according to claim 170, further comprising a memory adapted to store the location information and the count rate. 172. The system according to claim 170, further comprising a display adapted to display said position information and count rate as a graphic corresponding to the indicia of the position information and count rate. 173. A system according to claim 170, wherein the data processor is adapted to process said count rate and position information. 174. The system according to claim 173, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ around X, Y, and Z, respectively, wherein in the coordinate system, the at least two The position information of the detector is defined as (Xc, Yc, Zc, ρ, θ, φ), the count rate of the detector is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as is defined as (dx, dy, dz); furthermore, where the data processor is adapted to represent the detector volume by looking up all volume images called voxels defined as Xc+dx, Yc+dy, Zc+dz pixel, determine M(Xc+dx, Yc+dy, Zc+dz) representing the count rate and the number of times the position information is calculated in each voxel, and determine according to N(Xc+dx, Yc+dy, Zc+dz )=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+ 1] Calculate the average count rate in each voxel to average the count rate and position information. 175. The system according to claim 173, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ around X, Y, and Z, respectively, wherein in the coordinate system, the at least two The position information of the detector is defined as (Xc, Yc, Zc, ρ, θ, φ), the count rate of the detector is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as is defined as (dx, dy, dz); furthermore, where the data processor is adapted to represent the detector volume by looking up all volume images called voxels defined as Xc+dx, Yc+dy, Zc+dz voxels, find those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and change these voxels with higher count rates to Voxels with an input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize the count rate and position information. 176. The system according to claim 95, further comprising a data processor, wherein the data processor is adapted to combine the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system, and is adapted to form the An image of the radiotracer distribution in the target area of the radiation source. 177. The system according to claim 176, further comprising a memory adapted to store the location information and the count rate. 178. The system according to claim 176, further comprising a display adapted to display said location information and count rate as a graphic corresponding to the indicia of the location information and count rate. 179. A system according to claim 176, wherein the data processor is adapted to process said count rate and position information. 180. The system according to claim 179, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 181. The system according to claim 179, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 182. The system according to claim 100, wherein the data processor is adapted to combine the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system, and is adapted to form a radiation map of the target area including the radioactive radiation source. Trace distribution image. 183. The system according to claim 18, further comprising a memory adapted to store location information and count rate. 184. The system according to claim 182, further comprising a display adapted to display said location information and count rate as a graphic corresponding to the indicia of the location information and count rate. 185. A system according to claim 182, wherein the data processor is adapted to process said count rate and position information. 186. The system according to claim 185, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of the number of times count rate and position information are calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=N( Calculate each The average count rate in a voxel to average the count rate and position information. 187. The system according to claim 185, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 188. The system according to claim 104, wherein the data processor is adapted to combine the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system, and is adapted to form a radiation map of the target area including the radioactive radiation source. Trace distribution image. 189. A system according to claim 188, further comprising a memory adapted to store location information and count rates. 190. The system according to claim 188, further comprising a display adapted to display said location information and count rate as a graphic corresponding to the indicia of the location information and count rate. 191. A system according to claim 188, wherein the data processor is adapted to process said count rate and position information. 192. The system according to claim 191, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the data processor is adapted to determine the representation M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in each voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N (dx+Xc, dy+Yc, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] The average count rate in three voxels is used to average the count rate and position information. 193. The system according to claim 191, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, wherein the data processor is adapted to represent the detector volume by finding all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and changing these voxels with higher count rates to have input detector voxels of count rate N(Xc, Yc, Zc, ρ, θ, φ) to minimize count rate and position information. 194. The system according to claim 112, wherein said at least one data processor is adapted to combine the count rate of the radioactive radiation detector with the position information of the position tracking system and is adapted to form a radiometric map of the target area including the source of radioactive radiation. Trace distribution image. 195. The system according to claim 194, further comprising a memory adapted to store the location information and the count rate. 196. The system according to claim 194, further comprising a display adapted to display said location information and count rate as a graphic of indicia corresponding to the location information and count rate. 197. The system according to claim 194, wherein said at least one data processor is adapted to improve said count rate and position information. 198. The system according to claim 197, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); In addition, wherein at least one of the above-mentioned data processors is adapted to represent the detector volume by looking up all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz , determine M(Xc+dx, Yc+dy, Zc+dz) representing the count rate and the number of times position information is calculated in each voxel, and according to N(Zc+dx, Yc+dy, Zc+dz) =[N(dx+Xc,dy+Yc,Zc+dz)+N(Xc,Yc,Zc,ρ,θ,φ)]/[M(Xc+dx,Yc+dy,Zc+dz)+1 ] calculates the average count rate in each voxel to average the count rate and position information. 199. The system according to claim 197, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); In addition, wherein at least one of the above-mentioned data processors is adapted to represent the detector volume by looking up all voxels called voxels defined as Xc+dx, Yc+dy, Zc+dz , find those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and change these voxels with higher count rates to have Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) voxels to minimize count rate and position information. 200. The method according to claim 5, further comprising combining the count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 201. The method according to claim 200, further comprising storing the location information and the count rate in a memory. 202. The method according to claim 200, further comprising displaying said location information and count rate as a graphic of indicia corresponding to the location information and count rate. 203. The method according to claim 200, further comprising processing said count rate and location information. 204. The method according to claim 203, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dx, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of the count rate and the number of times the position information is calculated in the voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc +dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 205. The method according to claim 203, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); furthermore, wherein the refinement process includes finding all voxels that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dx, and finding those voxels that have a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 206. The method according to claim 28, further comprising combining the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 207. A method according to claim 206, further comprising storing the location information and the count rate in a memory. 208. A method according to claim 206, further comprising displaying said location information and count rate as a graphic of indicia corresponding to the location information and count rate. 209. A method according to claim 206, further comprising processing said count rate and location information. 210. The method according to claim 209, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of the count rate and the number of times the position information is calculated in the voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc +dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 211. The method according to claim 209, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and finding those voxels that have a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 212. The method according to claim 62, further comprising combining the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 213. A method according to claim 212, further comprising storing the location information and the count rate in a memory. 214. A method according to claim 212, further comprising displaying said location information and count rate as a graphic of indicia corresponding to said location information and count rate. 215. A method according to claim 212, further comprising processing said count rate and location information. 216. The method according to claim 215, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of count rate and the number of times position information is calculated in voxels, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(dx +Xc, dy+Yc, Zc+dz)+N (Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 217. The method according to claim 215, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and finding those voxels that have a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 218. The method according to claim 86, further comprising combining the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 219. A method according to claim 218, further comprising storing the location information and the count rate in a memory. 220. A method according to claim 218, further comprising displaying said location information and count rate as a graphic of indicia corresponding to said location information and count rate. 221. A method according to claim 218, further comprising processing said count rate and location information. 222. The method according to claim 221, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of the count rate and the number of times the position information is calculated in the voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc +dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 223. The method according to claim 221, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all intensity pixels, called voxels, representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and finding those with a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 224. The method according to claim 89, further comprising combining the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 225. A method according to claim 224, further comprising storing the location information and the count rate in a memory. 226. A method according to claim 224, further comprising displaying said location information and count rate as a graphic of indicia corresponding to said location information and count rate. 227. A method according to claim 224, further comprising processing said count rate and location information. 228. The method according to claim 227, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of the count rate and the number of times the position information is calculated in the voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc +dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 229. The method according to claim 227, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the detector The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and finding those voxels that have a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 230. The method according to claim 94, further comprising combining the radiation detector count rate of said at least one radioactive radiation detector with the position information of the position tracking system and forming the radiotracer distribution of the target area including the radioactive radiation source image. 231. A method according to claim 230, further comprising storing the location information and the count rate in a memory. 232. A method according to claim 230, further comprising displaying said location information and count rate as a graphic of indicia corresponding to said location information and count rate. 233. A method according to claim 230, further comprising processing said count rate and location information. 234. The method according to claim 233, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the at least one detection The position information of the detector is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical Dimensions are defined as (dx, dy, dz); furthermore, where the refinement process consists of finding all volume images, called voxels, that represent the detector volume, defined as Xx+dx, Yc+dy, Zc+dz pixel, determine M(Xc+dx, Yc+dy, Zc+dz) representing the count rate and the number of times the position information is calculated in each voxel, and determine according to N(Xc+dx, Yc+dy, Zc+dz )=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+ 1] Calculate the average count rate in each voxel. 235. The method according to claim 233, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the at least one detection The position information of the detector is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical Dimensions are defined as (dx, dy, dz); furthermore, where the refinement process includes finding all volume images, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz voxels, find those voxels with higher count rates than the input detector count rate N(Xc, Yc, Zc, ρ, θ, φ), and change these voxels with higher count rates to Voxel with input detector count rate N(Xc, Yc, Zc, p, θ, φ). 236. The method according to claim 108, further comprising combining the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 237. A method according to claim 236, further comprising storing the location information and the count rate in a memory. 238. A method according to claim 236, further comprising displaying said location information and count rate as a graphic of indicia corresponding to said location information and count rate. 239. A method according to claim 236, further comprising processing said count rate and location information. 240. The method according to claim 239, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the monitor The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of the count rate and the number of times the position information is calculated in the voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc +dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 241. The method according to claim 239, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the monitor The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and finding those voxels that have a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 242. The method according to claim 123, further comprising combining the radiation detector count rate of the radioactive radiation detector with the position information of the position tracking system and forming a radiotracer distribution image of the target area including the radioactive radiation source. 243. A method according to claim 242, further comprising storing the location information and the count rate in a memory. 244. A method according to claim 242, further comprising displaying said location information and count rate as a graphic of indicia corresponding to said location information and count rate. 245. A method according to claim 242, further comprising processing said count rate and location information. 246. The method according to claim 245, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the monitor The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels representing the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and determining the voxels representing each M(Xc+dx, Yc+dy, Zc+dz) of the count rate and the number of times the position information is calculated in the voxel, and according to N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc +dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ, θ, φ)]/[M(Xc+dx, Yc+dy, Zc+dz)+1] to calculate each three-dimensional Average count rate in a pixel. 247. The method according to claim 245, wherein the coordinate system includes mutually perpendicular linear axes X, Y, and Z, and rotates ρ, θ, and φ about X, Y, and Z, respectively, wherein in the coordinate system, the position of the monitor The information is defined as (Xc, Yc, Zc, ρ, θ, φ), the detector count rate is defined as N(Xc, Yc, Zc, ρ, θ, φ), and the physical size of the detector is defined as (dx , dy, dz); moreover, where the refinement process includes finding all voxels that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, and finding those voxels that have a ratio Input detector count rate N(Xc, Yc, Zc, ρ, θ, φ) high count rate voxels, and change these voxels with higher count rate to have input detector count A voxel of rate N(Xc, Yc, Zc, ρ, θ, φ). 248. A method for radiographic reconstruction, the method comprising: a) determining the transfer function of a radiation detector; b) determining a deconvolution of the transfer function; c) assigning a count value based on the deconvolution to at least one voxel in the detector's field of view; and d) reconstructing the at least one voxel using the deconvolution. 249. A method according to claim 248, wherein using deconvolution at least includes reducing blurring of the at least one voxel. 250. A method according to claim 248, further comprising mathematically processing a plurality of readings observed by different detectors received by the at least one voxel. 251. A method according to claim 250, wherein the mathematical processing includes determining a value to be substituted for a single read value of said at least one voxel. 252. A method according to claim 251, wherein the step of determining a value comprises determining at least one algebraic mean, a minimum and the reciprocal of the mean reciprocal of readings of said at least one voxel. 253. A system for calculating the location of a body organ of a patient and the location of a radiopharmaceutical uptake portion of the body organ comprising: a) a two-dimensional imaging medical instrument connected to and/or in communication with a first position tracking system for calculating the position of a body organ in a first coordinate system; b) a radioactive radiation detector connected to and/or in communication with the second location system for tracking the location of the radiopharmaceutical uptake portion of the body organ in the second coordinate system; and c) at least one data processor designed and configured to receive data input from the aforementioned two-dimensional imaging weights, the first position tracking system, the radioactive radiation detector, and the second position tracking system, and to calculate the The location of the radiopharmaceutical uptake portion of an organ in a common coordinate system. 254. A method for calculating the location of a body organ of a patient and the location of a radiopharmaceutical uptake portion of the body organ, the system comprising: a) providing a two-dimensional imaging medical instrument connected to and/or in communication with a first position tracking system for calculating the position of a body organ in a first coordinate system; b) providing a radioactive radiation detector coupled to and/or in communication with a second location system for tracking the location of the radiopharmaceutical uptake portion of the body organ in the second coordinate system; and c) receiving data input from the aforementioned two-dimensional imaging instrument, the first position tracking system, the radioactive radiation detector, and the second position tracking system, and calculating the position of the body organ and the radiopharmaceutical uptake portion of the body organ in a common coordinate system .

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